I would map them as separate areas. Turning on your driveway to minimize damage is a great idea in theory, but if you can’t be certain and fully control when and if traffic is going to randomly be on the driveway, then I would advise against it. Car detection is still in beta and honestly Yarbo may zig when it should zag causing a delivery driver or someone else to collide with it.
As for mapping, keep it small and learn the robot first. Don’t go map your entire yard. Play with it, learn it, tweak it and then be prepared to delete your map and start over with your new found knowledge. Use the natural boundaries on your property as areas at a minimum and I think you’ll be happy with the results. You can tweak and break it up further if you have complex scenarios or something else you need to mitigate for or tweak.