I would avoid it in informal writing in most cases. There are a few senses under which it could be understood as applying to "…hear from you", but most don't match very well.
I would avoid it even more carefully in formal writing, since in formal writing it is best to avoid any uses that are commonly considered incorrect.
Generally I would only anticipate that which I took action to prepare for, or that which I took action to prevent. E.g. I anticipate welcome visits by making sure I have food and drink to serve, and anticipate unwelcome visits by having a compound bow and some arrows under my bed, along with various other weapons around my house. I don't anticipate responses to correspondence, because there is nothing to do but wait for them to come.