Can bailiffs take my car parked outside my house on the street and not on the driveway?

Yes

Bailiffs can take control of goods owned by the debtor on any highway,^[1] in England and Wales.^[2]

^{[1] Paragraph 9(b) of Schedule 12 of the Tribunals Courts and Enforcement Act 2007
[2] Paragraph 11(1)(a) of Schedule 12 of the Tribunals, Courts and Enforcement Act 2007}