Driving in front, hero admired (2,3,4)
I believe the answer is:
on the road
'driving' is the definition.
(driving on a road)
'in front hero admired' is the wordplay.
'in' indicates a hidden word.
'ON THE ROAD' can be found hidden inside 'front hero admired'.
(Other definitions for on the road that I've seen before include "Travelling (like Jack Kerouac?)" , "In the Fifties, a novel" , "Jack Kerouac novel" , "as a commercial traveller?" , "accompanying The Travelling People?" .)