There are two 21-degree angles to be concerned about -- the angle at the top of the driveway, where you could get "high centered" and damage the middle of the car's underside -- and the angle at the bottom of the driveway, where you could damage the front of the car, or the rear of the car (or both).
If you "try" to see if the car will clear, it will be very difficult or impossible to avoid serious damage if the answer is no.
Perhaps pictures of the driveway might be helpful...
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