To "drive" a car:
1. Find a drivable vehicle: Certain vehicles, usually marked by a distinct icon on the map or easily identifiable as being in good enough condition, are drivable.
2. Approach the vehicle: Get close to the car.
3. Interact: A prompt will appear allowing you to enter the vehicle.
4. Select a destination: A map will appear showing potential destinations. You select a location to "fast travel" to using the car. The game then skips the journey and places you at your destination.
Essentially, it's a shortcut to travel between locations, rather than a realistic driving simulation. You don't control the car during the journey; you simply select a point on the map and the game teleports you.