In between twerking, "Vogueing" and singing her classic hits, the Material Girl also revealed she wanted to be a nun when she was a kid.
"I liked their uniform. It's kind of perverse. I imagined all sorts of things were going on underneath that big long robe," the mum-of-four said during the drive around New York City.
"You know I've been excommunicated (from the Church) like three times."
During the nearly 14-minute clip, the Queen of Pop belted out songs from her epic catalogue of music, including Express Yourself, Papa Don't Preach, Don't Cry For Me Argentina and Bitch I'm Madonna.
Madonna's kiss-and-tell carpool came after she voiced despair over Donald Trump's election victory in a new interview with Billboard magazine.
The election "felt like a combination of the heartbreak and betrayal you feel when someone you love more than anything leaves you, and also a death," the pop icon said.
The Grammy-winning songstress, who campaigned for Hillary Clinton in her bid to become America's first woman president, said an "insanely high" percentage of female voters backed Mr Trump, who has boasted of his ability to sexually assault women with impunity.
Madonna told the mag: "Women hate women. That's what I think it is. Women's nature is not to support other women. It's really sad. Men protect each other, and women protect their men and children.
"Women turn inward and men are more external. A lot of it has do with jealousy and some sort of tribal inability to accept that one of their kind could lead a nation."
The singer will be honoured by Billboard today as its Woman of the Year at the magazine's annual Women in Music celebration in New York.
