In English grammar , in order to show ‘possession’ , then , the apostrophe comes after the ‘s’ .

e.g. :- I drove my friends’ girlfriends’ car .

Anytime you use ” friend’ s ” , the apostrophe takes the place of the vowel that would have been part of the verb .

e.g. :- My friend’ s coming over to visit me .

It takes all the grammatical crap out of the question if you just word your sentence differently , OR make it into 2 sentences .

(1) I drove a car that belongs to my friends’ girlfriend .

(2) I drove a car that belonged to a woman . Tom ( or, whatever your friends’ name is ) is her boyfriend .

The 2006 white Chevy I drove belonged to my friend’s girfriend.

Pete’s girlfriend, Anna, was kind enough to lend me her Pinto.

friend’s shows “possession” by my friend, singular

(friends’ shows possession by my friends, plural – thus friends’ girlfriends’ car would indicate a car that belonged to more than one girlfriend collectively, and that they were the girls of more than one friend).

What you wrote is correct English.

If you don’t like the double possessive, alternatives would be:

I drove the car of my friend’s girlfriend.

I drove the car that belongs to the girlfriend of my friend.

Hope this helps