Canada Visit on expired i94 and valid i797

Recently i got Canada visitor visa and I have valid i797 till 2025 but my i94 and visa stamping is got expired in Feb 2020, Canada is just 2hrs away from city in USA,I want to go by my own car.Can i visit on expired stamping and i94.

I am assuming when you say I-94 is expired you mean the I-94 issued by CBP at your most recent entry to the US. You seems to have I-797 extension approval notice and assuming it was approved with I-94 attached, your I-94/status is considered valid. If thats the case you can visit Canada with the visitor visa and enter back with the valid I-797 using AVR even if your visa is expired.