My friend makes me drive them everywhere?

Say NO or ask for gas money that's what I would do I'm not gonna drive anybody for free unless they're family. Try talking to the people who ask

You have the keys, you control the transportation. Stand up for yourself. tell her upfront if you are going somewhere like a gathering of friends when you plan to leave, and stick with that even if she wants to leave earlier. Sounds like a user, not a real friend.

Standing up to friends and relatives can be challenging but sometimes you HAVE to do it. Once you do this, see how she treats you afterwards and you'll find out whether she is a true friend.

Require payment since she is considering you to be her private taxi service. She pays up front or she doesn't go. She is taking advantage of you - don't keep allowing her to do it!

You don't "get her to stop asking". You politely decline and tell her that her destination is way out of your way.

Theres a very short easy word; NO

Start charging for gas money. And don't give in when she starts to beg. NO CASH, NO RIDE.

Learn to say no

ask her to start paying for gas or your not taking her anywhere.

Start saying "no" and stop letting her (and others) use you