Drive off with lecherous look about parking inside (5)
I believe the answer is:
repel
'drive off' is the definition.
(synonyms)
'lecherous look about parking inside' is the wordplay.
'lecherous look' becomes 'leer' (leer can mean a lecherous or suggestive look).
'about' shows that the letters should be reversed in order.
'parking' becomes 'p' (abbreviation on road signs).
'inside' indicates putting letters inside.
'leer' reversed gives 'reel'.
'reel' going around 'p' is 'REPEL'.
'with' acts as a link.
(Other definitions for repel that I've seen before include "Drive or force back" , "Be impervious to" , "Drive back - revolt" , "may turn your stomach" , "Sicken" .)