Maybe you could approach her and say I was wondering if you were still feeling uncomfortable about me transporting your child in my vehical during daycare hours?
Then she can say yes or no.
Then you can say that you have had a situation come up where you need to be able to be mobile with the children. If she is not you can then say well I am so sorry you will have to consider this your two week notice to find new daycare. Or something like that.

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