My driveway has locked gates, can the bailiff take control of my car on the driveway?

No

Bailiffs do not have a power to break entry, or damage property.^[1]

If the bailiff is collecting unpaid court fines,^[2] or debts owed to HMRC,^[3] they have powers to use reasonable force.

The power to use reasonable force does not extend to use force against people.^[4]

^{[1] See Bailiffs and entering with a locksmith
[2] Paragraph 18(b) of Schedule 12 of the Tribunals Courts and Enforcement Act 2007
[3] Section 127 of the Finance Act 2008
[4] Paragraph 24(2)(a) of Schedule 12 of the Tribunals Courts and Enforcement Act 2007}