Yes. However, you can only claim the parts of your expenses related to earning your self-employment income. Travel to your work and your home is not considered business travel, but travelling between work places is.
Also, you'll need to have receipts to support your expenses, and a record of the number of kilometres you drive to earn income.
This CRA page has more information about Motor Vehicle Expenses: https://www.canada.ca/en/revenue-agency/services/tax/businesses/topics/sole-proprietorships-partnerships/business-expenses/motor-vehicle-expenses.html