I'm with stopdog on this, I wouldn't care if someone drove by my place. Tons of cars drive by, what's another car going to do? Like others have said, this is a public space.
I wouldn't feel violated or weird about this. And I don't think a therapist should feel it either. If OP is prepared to tell her, then I would hope the therapist wouldn't take it personally or be uncomfortable and would instead explore what it means.