call the cops, give them the vehicle description and ask for more patrols in your area. Bad guys will be less likely to show up if they know cops are cruising the area on a regular basis.
If its legal in your area I would walk outside and let them know I am armed, I have the description of the vehicle and people inside
You could always take the more direct approach as you,DeepCreek and others have mentioned. ? With that or Maybe something like shinning a 5M lumen spot light on them with 120db loud speaker asking them to step outta car with hands up and state name age and nature of there business in area.Be sure to announce you're citizen patrol resource officer chief. A few flash bangs may be approximate at this time too. The other may be to covertly circle around, crawl up from behind and deploy the ole' banana in the exhaust pipe maneuver.
It's possible they're just there to pick there kid up from piano lesson or drug deal. Pretty sure it's one of the two though.
Without knowing all the details, I would guess piano lesson/ private tutor scenario. IMO
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