Next time you pick them up, you should just go to the gas station and proceed to fill your car. Don't necessarily mention anything, unless they offer to pay in which case thank them and take the money and all is done.
If nothing is said, proceed to fill up the car until the gas tank cannot intake more fuel. Then get back in your car and sit there. If it is still silent, take a look at your friends and state that "well geez... SOMEBODY is going to have to pay for this gas......"
Do not drive until they pay.
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