Well, the fact that it is humped in the middle is a good thing 'cause that means it is draining properly and less apt to have bed damage... BTW, here we call that a "crowning"...

You might be able to just regrade what you have that would allow the Toyota passage without having to pave??? I'd explore that option first unless you just want the blacktop look...

BTW, my drive way is almost a half a mile long but I am able to keep it in good shape with my tractor and a "box scraper"...

B~