I am also violently allergic to bee stings, but here's the thing. Most bees are not aggressive. If you leave them alone (and don't walk around without your shoes on), you will be okay. I do always have my epi-pen nearby, just in case, but honestly in the past 20 years I haven't been stung once. I'm an avid gardener, and I do tend to plant "hummingbird gardens" which do also attract bees. There aren't enough bees to go around right now (I think 75% of them in the US have died recently due to some kind of bee virus), so just let them be, if you can? The bees that are nesting in your shrubs, why not just call a local bee keeper? They can usually safely remove hives from trees and shrubs and relocate them to where they can do some good (pollinating crops, etc). Hives on building walls are trickier to remove safely.
Anyhow, I would maybe think about switching doctors if your doctor won't give you an Rx for an epi-pen (I mean, seriously?! Going to the ER is crazy expensive AND waiting for treatment can be dangerous! I'd be all over my doctor about this if I were you!). You can also keep plenty of liquid Benadryl on hand, as that will help if you don't have an epi-pen. But just wear shoes when you're outside, and pay attention to where the bees are. They will not come after you. They're really very mellow in my experience.
