It's considered rude here. Parking in someone's driveway without permission would be using the master bathroom, instead of the guest bathroom. In both cases, sometimes it's necessary, so you ask. On occasion, if I'm just dropping something off, or picking up a child, and there is limited street parking, I'll pull into the driveway, and apologize.
One of the early signs of my dads ahlzeimers was when he started parking in my driveway for no reason, even when I asked him not too (tons of street parking in front of my house, driveways are in back).