Short answer: Yes, You can either claim the miles using the standard business mile rate (2020: 0.575/Mi) OR you can claim the actual expenses (gas, wear/tear, oil changes, etc).
Long Answer: you will need to remember and document all the trips you've taken with the vehicle for business. Document them in your calendar and/or excel spreadsheet. Calculate the round trip miles for each occurrence. Directions in google maps is good for this and can be used if you are ever questioned about the actual miles of your trip. Your deduction will be total miles X Std Mileage rate.
Tip: If you take the total miles driven for business and divide that by the total miles driven for the calendar year, you will get the percentage of business use. Using this percentage you can also deduct that percentage of your yearly auto insurance bill and any loan interest (like you would for percentage of home used for business).
