I really find it ridiculous that people think if a guy is offering a ride to girl that it somehow will always end up with dating or marriage. Why does that have to be the case? Why can’t a guy give a girl a ride home just for the sake of being a nice person? Do you think every girl I talk to or deal with every day will result in a love affair? Of course not! I don’t think about marriage every time I talk to a woman.
But, if you actually do want to date this girl, I wouldn’t advise asking her out the first time you offer her a ride. That probably wouldn’t go over too well. I would develop a more comfortable relationship first, and then ask her out.
I feel that I should say that this is considered proper in my circles. If it’s not considered proper in yours, then don’t listen to me. I will respect your opinion, however much we may disagree on this issue.