Drive is a lexical verb.
Drive is an irregular lexical verb; it has the third person form "drives", the -ing form "driving" (with a dropped E), but an irregular preterite "drove" and an irregular past participle "driven". This pattern is the same as ride, rise, strive and write. The preterite and past participle may be over-regularised to *"drived".
In contemporary English we typically only specify the vehicle being driven if it's not a car. Native speakers say "I drive" rather than "I drive a car", because of pragmatics; the implication of "I drive" is that a car is driven, and the listener will make that assumption unless (1) there is clarification that actually it's a bus, truck, train, etc that is being driven or (2) there is additional local context (e.g. a conversation between train drivers). English language learners often fail to grasp this and will say "I drive a car".
Students will sometimes generalise "to drive" to other vehicles, e.g. *"He drives a plane" (instead of "he flies a plane"), or *"she drives a bike" ("she rides a bike").