But "drive" in English has the rather specific meaning of sitting behind the wheel of a car, right? You couldn't say "Я їздила в Денвер потягом" as "I drove to Denver by train." I think they should be "go," but in the back of your mind you need to remember that there was some kind of mechanical assistance.
Is " ї " used for pronunciation purposes? Because I think I saw " ідемо " somewhere as well.
Іти and їхати are two different verbs. Іти means to walk, to go by foot and їхати means to go using some vehicle