Is there any medication you can take occasionally?

I developed a fear of medications especially ones that affect your mental state due to a bad trip years ago.

Anyway I was wondering if there’s anything you can take occasionally I only really suffer in the bathroom once a day and every other point I’m basically okayish. I know with diazapam you can take it as needed but it’s best not continuously take it (as specified by my GP correct me if I’m wrong) so I was wondering if there was something similar but for my ocd? Or can diazapam be used to help with my OCD?