Well I admire Hypatia's strength and what she had to endure.
That said, I think if there's a half an hour ride, and it's rural country your daughter could have felt stuck where she was.
Your daughter can draw the boundary. Mom--I only want to see you when you come here, and I refuse to get into a car with you. I would let daughter know that she can set her own boundaries, and to not feel guilty for doing so.
Her mom may not like it, but too bad, she's refused to change her ways. Consequences.