Is it permissible for a worshipper to wait in the car and listen to the sermon from there until prayer time, due to the mosque being full of worshippers?

Whoever is obligated to attend the Friday prayer must hasten to it upon hearing the second call to prayer, except for those whose homes are far away; they must go early to catch the complete sermon and prayer. This is based on the Almighty's saying: ﴿O you who have believed, when [the adhan] is called for the prayer on the day of Friday, then proceed to the remembrance of Allah and leave trade.﴾ It is forbidden to be late for the sermon, and sitting in a car is not considered attending it; rather, one must be present with the worshippers. Going early for the Friday prayer has great virtue and immense reward.