Prepared to be driven a fair way (4,2)

'driven a fair way' is the definition.
The answer and definition can be both to do with contact as well as being past participle verbs.
Maybe they are linked in a way I don't understand?

'prepared to be' is the wordplay.
'prepared' becomes 'up' (similar in meaning).
'to' is a charade indicator (letters next to each other) (I've seen this in other clues).
'be' becomes 'teed' (I can't explain this - if you can you should believe this answer much more).
'up' after 'teed' is 'TEED UP'.

Can you help me to learn more?