Outside of the major chains, drive-thru coffee isn't widely available in the metro area. The second Filling Station coffee shop is hoping to change that. The modern coffee stand, located in the shopping plaza at the corner of Westport Road and Southwest Trafficway, is housed within a former instant photo shop.
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Not sure whether it's still there/open, but there was a drive-thru coffee place off Barry Road, right across from the entrance to Zona Rosa. (in the strip mall with QuikTrip)
There was another one at 95th and Antioch in JoCo as well. (same caveat - I have no idea if it's still around) And if you're truly desperate to avoid getting out of the car, there's always MickeyD's.