Jedeme doesn't necessarily mean driving, but to go by means other than walking. So it could be a bus or a train or a tram or a car, etc. It would be incorrect to translate it specifically as "Are we driving home?" řídit is "to drive".
Could this ever have the meaning of "shall we be going home?" as in, something you'd say to your friends to suggest that you go home now? Or is it always just a question about what is currently happening?