Reach outside parking, getting learner to drive (6)
I believe the answer is:
compel
'to drive' is the definition.
(I've seen this in another clue)
'reach outside parking getting learner' is the wordplay.
'reach' becomes 'come' (I've seen this in other clues).
'outside' indicates putting letters inside.
'parking' becomes 'p' (abbreviation on road signs).
'getting' is a charade indicator (letters next to each other).
'learner' becomes 'l' (as in a learner driver with L-plates on their car).
'come' going around 'p' is 'compe'.
'compe'+'l'='COMPEL'
(Other definitions for compel that I've seen before include "Use force or influence to make person do something" , "Coerce, force to obey" , "Make someone do something" , "'Force, oblige (6)'" , "drive on" .)