The short answer is maybe. You can claim mileage driven for volunteering as long as it is for a qualified charity and you are using your own vehicle. The current standard rate for volunteer miles is 14 cents per mile (2023). In order to claim volunteer mileage, you will need to itemize your deductions on your return. You can also claim out of pocket expenses that are directly related to your service.
https://www.irs.gov/pub/irs-tipss/oc-tips-for-charity-travel.pdf
