I’ll take the contrarian view - pay it off.
Here’s why: risk tolerance and asset allocation are the bedrock of any financial plan. Most of the advice here is how to maximize returns for the OP’s cash flow and investment portfolio while completely ignoring his risk tolerance. Covered calls? Options? These are sophisticated tools that are not suitable for most investors. Sure, we can analyze rates of return and nuanced, effective, portfolio management. None of that matters.
The OP stated, clearly, that he would feel better with a paid off house. He will sleep better with it paid off.
That’s a very clear, and very different than the presumptive, risk tolerance, that is missing from all the other posts.
We’re talking $29,000 here, right? Pay it off, sleep well, and don’t worry about a few percentages one way or the other on what is really, economy car money, not millions in a portfolio.