To make the sentence “reading my mom’s list of instructions” parallel with “to drive to the grocery store”, the sentence should be changed like "driving to the grocery store".
The repeating of a certain "grammatical form within a sentence" is known as parallel structure, sometimes known as parallelism.
The phrase "to drive" has to be changed in present continuous tense that is "driving" just like the word "reading" so that there is a grammatical repetition in both the sentences.
To learn more about parallel structure here
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