The visible action verb in the sentence "Samantha drove her car to his house" is "drove," since it expresses an action performed by the subject.
As the name suggests, an action verb is a word that expresses an action performed by the subject of the sentence, be it a mental or a physical action. Some examples of action verbs are:
In the sentence, "Samantha drove her car to his house," the action verb is "drove," and the action is performed by the subject "Samantha."
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