after a long drive, we arrived at the station. - does it contain a phrasal verb? if not, then why?

No, the given sentence does not have a phrasal verb.
A phrasal verb is a unit of a verb+ some other words(usually a preposition/an adverb).
The unit's meaning is different from that of the verb and the added word separately.
For example: I made up an excuse.(cooked up/created)