Actually the first two are both singular, since you are talking about the drive.
Two hours' drive is a kind of possessive, think of the full sentence as "two hours worth of driving".
'Two hour drive' must be preceded by 'a' or 'the'. In this phrase the 'two-hour' part serves as an adjective, describing the drive.
'Two hours drive' sounds strange, and I probably would never use it. If it makes any sense, you could say this is the plural, and the 'drive' part is a verb. Eg. "I arrive home at 7pm, but I don't see my beloved wife until 9. The two hours drive me insane."