Irishman grabbing daughter's car (5)
I believe the answer is:
sedan
'car' is the definition.
(sedan is a kind of car)
'irishman grabbing daughter's' is the wordplay.
'irishman' becomes 'sean' (I've seen this in other clues).
'grabbing' is an insertion indicator.
'daughter' becomes 'd'.
'sean' enclosing 'd' is 'SEDAN'.
(Other definitions for sedan that I've seen before include "Old carrier chair for Danes" , "Covered chair carried between poles" , "A closed litter for one passenger" , "Andes (anag.)" , "Saloon-car" .)