I don't want to pick my friend up every time we hang out
Why don't you want to pick them up?
I don't have time.
I understand being a bit frustrated if you are the one who always has to pick him up and give rides to hang out, but he is still your friend. You should do your best to spend time with him. If it really bothers you so much, talk to him about this.
You're just being a dirtbag. You don't know the context.
Well no matter the context, if your friend needs a ride to hang out with you then you should give it to them.