Done it many a time, but I have nothing to worry about back at home, do you?
As I learnt more, I still wouldn't particularly worry about the girl I was visiting, but you have to consider;
Her pimp, if one.
Neighbours and Do Gooder groups.
PC Plod, even though you may not be breaking any laws.
A family friend spotting your car in an 'unusual' location. Why are you there?
Probably others as well.
Your car is on the drive with it's registration plate on full display.
As I say, you are probably not doing anything wrong, unless she is being trafficked, under age, working under duress.
So park a short distance away and stroll up to the door.