I'm going to refuse to drive my girlfriend to work
Why would you refuse to drive her?
She's yelling at me too much.
It's nice to be supportive of your partner. You should give her a lift if she needs one.
But I feel taken advantage of because she yells at me all of the time, then expects that I do favors for her like this.
This sounds like a bigger issue than just whether or not you should drive her to work. Yelling at someone all of the time is abusive behavior. You're allowed to set a boundary with others that you will not be yelled at, and if the person doesn't take steps to deal with problems more reasonably, to end the relationship.