If I go to the mall with my parents, we usually all split up and do our own thing. If I'm going with friends, I stick with them, as I'm more into the socialization aspect(unless they're looking at tabletop RPGs, in which case I do wander), and therefore, we only go to stores we all like.
Most of the time, I'll just drive to the mall/store/wherever alone. Less hassle that way.
As for people driving you somewhere and expecting you to defer to them: nobody wants to feel like a taxi service. Nobody wants to feel like they're being used for transportation. In fact, when I feel I AM being used, I will ask for gas money, or a hamburger(free food wins me over like you wouldn't believe). The exceptions are my old high-school chums who drove me around for years before I got my license. I owe them.
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"I'm sorry, I seem to have a tin ear for other people's feelings..." -Naoto Shirogane