It is not a crime to give intoxicated people a ride, whether they are underage or not. That is the responsible thing to do and we encourage people to not drink and drive so acting as a designated driver is a good thing. You cannot be charged unless you were to let them drive the car knowing that they were intoxicated or you somehow helped them get alcohol or get drunk which would fall under contributing to the delinquency of a minor.
So long as there is no alcohol in the car, you should be fine. If there is alcohol in the car, you might get a minor in possession ticket - but that is a stretch. If you get stopped and they suspect DUI, ask for the blood test. You do not have to complete roadside maneuvers - and I think those tests are BS. If you have had nothing to drink, ask for the portable breath test (passing that is the easiest way to end the contact). If arrested, ask for and cooperate with the blood test. Do not consent to a search. Do not waive your Miranda rights. You only have to show your drivers license, registration and insurance. You do not have to answer questions (other than blood or breath).
I assume you are not on a restricted license. If that is the case, and you are acting as a "designated driver" for your friends, and you do not commit any driving related offenses while you are driving, you are fine. You cannot be charged with transporting friends who are drunk... even if they are under the legal age.
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