I've removed some red clay stains up with slowly pressure washing the concrete. It didn't work well, but it helped.
I've also put Quickrete concrete resurfacer on a stained sidewalk to make it look new. I don't know how well it would hold-up to driving on it.
The best solution is what my boss did at his house. After getting tired of continuously having his driveway stained by runoff red clay from construction across the street, he put an epoxy surface on the driveway. It looks good. He has several relative that have cars that leak oil, and to clean them up now you simply wipe-up the oil with a papertowel. In his garage he used two custom colors with a non-slip surface in a checkerboard pattern. It looks great. The cheap epoxy surface he tried lasted about three months before it started peeling. He had a customer of ours that epoxy coats industrial concrete floors sandblast it and put their coating on it, and it's lasted over five years. If you do it, do it right.z