Yes drive the car. The condition you state is after an extended drive. It is easy to see if you can cycle, but it easiest if you creat the most oportune conditions. Engine speed over 2000, airflow over the condenser (50mph works), and a cooler time of the day using low blower speed. This will give your coldest duct temp posible and you should cycle. Cycling means the compressor shuts off just like your home AC does when it reachs desired temp. In the cars case the refrigeration systems is always going maximum, temp change is effected by mixing heat with the AC.

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Steve Brotherton
Continental Imports
Gainesville FL
Bosch Master, ASE Master, L1
33 years MB technician