Not a teacher! I can help you with how a native speaker would say these phrases, though.
"Go by" can be the same thing as pass or drive by. In the case of "drive by," you are being more specific as to the manner in which you are "going by," but it means the same thing. Something I say a lot, which means the same thing as "pass/go by", is "swing by."
"I am going to the party but before that I need to drive by home to pick up a thing I have forgotten."
I would say, "I am going to the party, but first I need to drive/go/swing by my house to pick up something I forgot."
"I saw you driving by at the mall last week."
"I saw you drive by at the mall last week." In this case, since you are referring specifically to driving, you can only use "drive by."
"I saw you driving by Dunda St. last week."
Could be either "drive by" or "driving by. If they were actually on Dunada St., I might say, "I saw you driving up Dunada St. last week." If they crossed Dunada St., I might say, "I saw you drive past Dunada St. last week." That's how we say it here in Cali., anyway.
Again, I am not a teacher. I am, however, an expert on speaking English to other native speakers. I also have lots of experience with non-native speakers since Los Angeles is extremely diverse. When speaking, I actually use contractions a lot. If you see me write something like "you are" or "I am," I will speak them like "you're" and "I'm." If that helps.
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