Yes, you can deduct your unreimbursed business mileage you drove for company work using your own vehicle. You cannot deduct commuting miles from home to your normal place of work and back home again. How you deduct it depends on whether you are an employee (receive a W-2) or an independent contractor (receive a 1099-MISC). See below for instructions to enter into TurboTax.
If you are reimbursed for mileage by the company and they do not include it in your taxable income, you cannot deduct it.
Here are instructions for entering the mileage if you are a W-2 employee:
https://ttlc.intuit.com/replies/4800418
https://ttlc.intuit.com/replies/6600395