I only drive to work on Fridays
Other days, I take the bus to work.
Or, if the emphasis is I only drive / to work on Fridays: The only reason I'd be driving at all is to get to work which is only on Fridays.
I drive only to work on Fridays
But other days, I drive to work, the store. On Fridays, I might walk to the store.
I drive to work only on Fridays
Other days, I take the bus [to work].
Possibly, I drive / to work only on Fridays. There is a pun (drive: ambition) here. But even if I [verb] / to work only on Fridays, it still keeps that feel of The reason I [verb] is to work only on Fridays. (Yay! Working on Fridays only!)
I drive to work on Fridays only
Other days, I might take other methods of transportation.
Note that most of the sentences can be read in different ways, depending on inflection.
In my opinion, the only true matches are A and D: (I only something) and (I something only). C matches, too, no doubt, but the whole sentence doesn't have an unambiguous tone.