hi, is there a way to share my iCloud Drive with only selected family members on my account

Yes and no. Only those you invite to your Family Sharing group can participate.

However, none of the members of your family group can use your iCloud Drive (accessed via Finder) or any other member's iCloud drive. Neither can they access the space of anyone else in the shared iCloud storage plan; each member's space within that storage plan is private. See here to see what they can share.