Is it permissible to perform make-up prayers while driving, with a private driver present?

Voluntary (Nawafil) prayers are permissible to perform while on a mount or in a car. However, obligatory (Fard) prayers—whether performed on time (Ada'an) or as a make-up (Qada'an)—are not permissible to perform in such circumstances, except out of necessity. Obligatory prayers must be performed with all their pillars, conditions, and duties fulfilled. Consequently, it is not permissible to make up missed prayers while driving or riding in a car, due to the disruption this causes to the pillars of prayer and some of its conditions, such as facing the Qiblah.