It seems as though you're interested in psychedelics, but you're afraid of the anxiety and "bad trips". Please don't be! They are wonderful experiences, bad trips really aren't what they're depicted as. But to answer your question; there are no real serotonergic psychedelics that also affect anxiolytic receptors in the brain.
There are some in a gray area though:
Dissociatives; like ketamine and MXE. But others like PCP, DXM, and Salvia are usually considered opposite of anxiolytic.
"Z-drugs"; like zopiclone, zaleplon, zolpidem. Some people report psychedelic-like hallucinations. They are also used as sedatives.
Cannabinoids; some people get a lot of anxiety with them, some people become very relaxed. Some people feel psychedelic effects while others don't. Personally I become very relaxed and it is very psychedelic for me (even visual at times).
Serotonergic Psychedelics; DMT and psilocybin are two that come to mind. They aren't anxiolytic at all, but they're extremely relaxing, blissful, lethargic, etc.
Amanita Muscaria; ugh, yes unfortunately I've tried it multiple times. Its a horrible drug. Yes you hallucinate and it can be psychedelic. Yes it can feel very sedating/dissociating. But it is not something you want to try, please don't consider it. While there are some psychoactive effects, it has more (extremely!!!!!!!!!!!-) negative physical side effects than anything.
None of these drugs other than the real psychedelics will give you the experience you're seeking, I can guarantee you that.