Before it became a meaningless term and a synonym of freeway, a parkway specifically referred to a high-speed limited-access road usually with scenic views and which often transected state or federal park lands. For example, the Baltimore-Washington Parkway and Skyline Drive. (Which is more appropriately and longer named Skyline Drive Shenandoah National Parkway, though nobody knows that including seemingly half the employees of the National Park Service.)
A driveway is called a driveway for the ironic reason that parkway was already taken, the name was basically a second-best option and references a time when a driveway was a luxury of the wealthy, a paved private surface, usually horseshoe-shaped, that allowed one to ingress and egress from a private property to and from the roadway (through either one or two curb-cuts) without putting the car in reverse...it's a drive way because it allowed one to "drive" through rather than enter then exit by reversing out the same way you came in. Poor people didn't have driveways, they just parked on the side of the road or drove the car off the road onto the dirt or grass.
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