Praise learner driver after parking car at end of test (7)
I believe the answer is:
plaudit
'praise' is the definition.
(I've seen this before)
'learner driver after parking car at end of test' is the wordplay.
'learner driver' becomes 'l' (I've seen this in other clues).
'after' says to put letters next to each other.
'parking' becomes 'p'.
'car' becomes 'audi' (audi is a german car brand).
'at end of' suggests the final letters.
The final letter of 'test' is 't'.
'l' put after 'p' is 'pl'.
'pl'+'audi'+'t'='PLAUDIT'
(Other definitions for plaudit that I've seen before include "Expression of praise or approval" , "Praise bestowed" , "Enthusiastic approval" , "Praise, accolade" , "Praise, encomium" .)