I think JoMar nailed it with the combo of holding the affected arm forward to grip the wheel and neck tension from driving (knowing it will cause pain stresses me out just thinking about it.....will I be able to drive ho,me or will the pain be too bad, etc)

I use a pillow under my left (affected) arm. I also frequently take the longer route to avoid certain roads/intersections where I know I would have to turn far to my left and hold that pose before merging into traffic.

Otherwise, I just try to avoid driving. It means I miss out on a lot, but I just can't do it.