Absolutely. We did have one instance where lover and I were in backseat and hubby was in front. We were kissing and lovers hand found it's way up my skirt to my pussy, of course I had no undies on. Driver was a youngish male (20's?) Lover fingered me and we kissed for most of the ride from the restaurant to our hotel.
When we got out I told hubby to give him a good tip.