Can a bailiff take my car from the driveway?

Yes

Bailiffs may take control of goods that belong to the debtor,^[1] where the debtor lives or trades.^[2]

Interestingly, the bailiff cannot take the car on a neighbours driveway, or allocated number parking space. The bailiff must apply to the court for that authority separately.^[3]

^{[1] Paragraph 10 of Schedule 12 of the Tribunals, Courts and Enforcement Act 2007
[2] Paragraph 14(6) of Schedule 12 of the Tribunals, Courts and Enforcement Act 2007
[3] Paragraph 15 of Schedule 12 of the Tribunals, Courts and Enforcement Act 2007}