To get out of debt, you can focus on one debt at at time, starting with highest rate or starting with smallest balance. When I was in debt, I didn't want to accept the road out would take over a year. I wish I could go back and say don't worry about that; just the next year financially is going to be about retiring debt.
If you can get rid of the car loan, that's good too. There's no reason to aim to keep some debt.
Don't worry about investing or donating until you're done with the debt. One thing at a time. When the debt's gone, you'll have money to invest. As for donating, I try to donate to people I know. I asked my kids' teachers if they know anyone struggling to pay for Internet during this corona virus crisis. It was nice to be able to help. I could not have helped 20 years ago when I had debt.
It will go faster than you think, not just in terms of perception, but in time. You'll find new ways to pick up OT, bonuses, things to sell, or whatever over the time when you're paying off the debt.
Regarding the OP topic, get your HR office to update your W-4 form so they take less out for taxes and so you don't get much refund. That way you have more money from each paycheck to pay debt or do whatever you want with.
