How to calm down in a world where it's praised to be busy?

As a 30, soon 31, year old I'm officially an adult. 
I grew up outside a small town, I wasn't happy there so 8 years ago I moved 5 hours away to move in with my partner. Time has been going fast, but it's been a long ride. Today I have an education, a full time job, an amazing son, a lovely fiancée and a good life. Everything is "as it should be". But with a baggage full of mental health issues like anxiety, depression, ADD and autism I'm having a really hard time navigating life in this society. 
If someone would have told me when I was 20 what my life would be like now I would've laughed at them. Back then I didn't think I would be alive now. I am so incredibly thankful for what life has given me and for what I have now. Don't get me wrong, I'm not unhappy with what I have. But I wonder how other people are able to enjoy life? I'm having a hard time accepting the famous rat race, which everyone else just seems to be okay with. 
I recently had 5 weeks of vacation and this year we decided to just take it easy, which we did. Last week was my first job week after the vacation and I am already exhausted. I like my job, I wouldn't call it stressful, I like what I'm doing, I like my co-workers and I don't have any plan to change my situation right now. I just have to accept the situation as it is. But I'm still exhausted. 
I feel like we live in a society where it's normalized, and even praised, to be as busy as possible. You're supposed to flip through the pages in your calendar to find time for coffee with a friend, you're supposed to always be on the move, you're supposed to jog everywhere even though you don't have somewhere to be. Is life supposed to be like that? 
The difficulty of finding balance is hanging over me and in the end it's like there is no balance. 
I often find myself in a state where I'm almost out of breath, sweaty and with a heart rate through the roof even though I don't have somewhere to be. When I walk somewhere I often find myself "powerwalking" because everyone else is doing it. When I clean at home I often find myself doing it as if someone is holding a gun at my head. Why am I rushing everything I do when I don't have to? 
I really don't want to transfer this to my son. When I'm with him, I tend to feel stressed because he's doing everything "slowly". He stops and smells the flowers, he stops to pick up a pretty stone, he doesn't have a care for "what needs to be done". 
Of course, we can't just "give up" and stop doing what we have to, but it feels kind of stupid that we're born into this world just to end up stressed and depressed. 
Right now I'm sitting in my kitchen, checking the clock constantly because I know that I have to catch the train to work a certain time. Of course I need to be on time, but instead of just trying to relax before work, instead of making the most out of my free morning before work it's consumed by the stress that I have to be on time. 
I really, REALLY wish that society's general opinion on life and living will change. 
Maybe we need to learn from the kids and stop to smell the flowers once in a while?