In Italian /to drive the car/ means exactly this:
-- to steer the wheel, to push the pedals, to start and stop the engine,
to choose the correct way at crossroads or bifurcations.
There is no implied meaning of a journey.
It is not ok to say:
- stiamo guidando {a,per} Firenze
occasionally you could use:
-- stiamo guidando verso Firenze
menaing the direction of the travel,
but usually it will be:
-- stiamo andando a Firenze.
Or, it could be used as in:
-- ho guidato fino a Milano, ti va di guidare un po` tu adesso?
Here the meaning is the action, the effort of 'driving', not the travel.
The verb /guidare/ has another meaning: /to lead/, /to be the leader/,
/to show the way/.
Esempio:
-- Voglio un gran bene a mio zio Ugo, e` stato la mia guida negli anni di studio.
(he showed me the path, the way)