Yes, the mileage used within the scope of employment, and not just commuting to and from your workplace, can be claimed. Look below for a more detailed description of the criteria needed to claim mileage.
https://ttlc.intuit.com/replies/3300445
To enter job-related mileage expenses on Form 2106:
1.
Go to the search bar in the top right and
enter “job expenses, employee”
2.
Select “Jump to job expenses, employee”
3. Enter your occupation and proceed to answer the
questions
4.
When you arrive to “Any Vehicle Expenses or Sales?”
select “Yes”
5. Continue answering the questions and enter the
business mileage for your vehicle