Every soon to be mom that is high risk is nervous, I had a high risk pregnancy and while it was a difficult process getting my daughter here safely she and I are both ok. Thirty minute drive isn't too bad, though I can understand your concern I Just listen to what your body is telling you and if you feel you are close to having your little one don't hesitate to head to the doctor and call them on the way.It's better to be safe than sorry. Best of luck to you.