You need a third option. We live within walking distance of an Elementary, a Junior High and a High School. Walking is not optional when the weather permits. Driving is silly unless the weather is bad, we're running late, or school activities start or end when it is dark outside.

I Take the grankids to school by car as their mummy works nights and daddy leaves early for his job . Its not too far , but with the speed I walk nowadays , it would take too long to get there on foot

My children walked to school like I did when I was their age. Different if school out of the area so I was lucky.