Speaking as an engineer, I do. If I am required to attend a design review meeting that lasts one hour, and if the round trip drive takes an hour, I will charge two hours to the project. I will also submit an expense report for the mileage, and that will usually make its way into our invoice to the client. This is all part of our contract with the client.
That said, now speaking as a homeowner, if I were to hire someone to do work at my house, and if you were going to charge me for the drive to or the drive from my house, I would want to know that when we first speak about the job. Tell me your terms, and I will decide if I think them fair, and I may decide to shop around for better terms. But if you don't tell me your terms, and if you try to charge me for something I was not expecting to pay for (such as paying labor rates for your lunch break), we are going to have words. Here again, put it in your contract, so that there is no room for disagreements later.