For the verb 'drive', its past participle is 'driven', so your phrase would be "We have driven through our town", not "have drove".

How do you use driven?

1, The tape was driven by a clockwork motor. 2, A wooden stake was driven firmly into the ground. 3, The machinery is driven by electricity. 4, They are driven by a craving for personal glory.

What tense is driven?

The past tense of drive is drove or drave (archaic). The third-person singular simple present indicative form of drive is drives. The present participle of drive is driving. The past participle of drive is driven or druv (dialectal).