I don’t drive, never have. I’ll accept a ride home from someone who lives near me, but not someone who lives more than 5 minutes away unless it’s a coworker who gets paid for the driving time, or unless they offer, I decline, and they insist (so I know they really would prefer to drive me home—some of my friends are sketched out by me taking the bus, and if they want to drive out of their way for their own peace of mind, I’m not going to deny them that, even though I think it’s silly). I don’t ask for rides, and I either explicitly kick in for gas or make sure to buy my driver friend a drink or something when we get where we’re going.

If your friends are taking advantage of you more than that, I’d say they’re being jerks, and you should stop offering to drive. If they ask, you can also tell them you can’t drive them home, sorry, and you don’t owe them an explanation.