Simple answer: you cannot claim the mileage.
But, as you've already learned, taxes aren't simple. "Employees" are not allowed to deduct miles, at all. This is whether you are a regular W-2 employee or a non W-2 "Household employee". Prior to 2018, there was a petty deduction allowed.
If you are self employed, you cannot deduct mileage, except between work places. For example you leave home drives 5 miles to the 1st job then drive 10 miles to the 2nd site. At the end of the day you drive 15 miles home. Only the 10 miles between jobs is deductible. The other mileage is considered non deductible commuting.
