If you sell the car, you'll need to rent a car on your family visits, and you'll need to pony up the difference between what you owe on it and what you get for it. Those are expenses. On the savings side, you'll be saving the interest on the loan, car insurance, and maintenance. I would do some calculations to see with the most likely scenarios will you end up winning or losing by selling it.
Another thing to consider is if you plan to have kids, you might want a car at that stage of your life. If you think that's the case, factor it into your calculations.
Also, what about the odd trip around town where a car would really come in handy? Are there car-sharing services or some other way to handle those? (By the way, if you get a cheap kiddie trailer for your bikes, you can fit a whole lot of groceries in one of those.)
P.S. I'm very jealous of you folks with such low insurance payments. I was paying $250/mo in insurance when I ditched my car, for a married couple both in their 30s.