Ooo, okay, your question aligned with a thing I've been chewing on for a while, so let's talk ~ethics~ and ~philosophy~ aka this is gonna be a bit long. I do promise I'll answer your question, though!
The first thing I want to note is that you're really asking about two different things, which are almost always conflated these days when it comes to talking about animals: welfare (is the animal happy / healthy / safe) and ethics (is what's happening good / moral / acceptable). It's really important that we distinguish between the two, because welfare is an objective measure of physical and mental wellbeing, and ethics are a human construct that involves subjective interpretation.
A useful but highly oversimplified example of this is the bothering of cats for online videos. Pestering a cat to get a funny reaction once in a while may not impact their overall welfare. Welfare is the cumulative impact of an animal's experiences, which means that single acute moments may not weight heavily on the entire balance. If the cat is healthy, fed well, enriched, and has a good and positive bond with their humans, those momentary irritations for videos might not matter much. That doesn't mean that you or I, as viewers, might not still find bothering an animal for internet clout ethical. We can believe that humans shouldn't ever unnecessarily put their pet through negative experiences, and we can think that doing so just because it brings the human money or fame is distasteful. But! We have to recognize that as used in this example, those ethical stances aren't inherently tied to the animal's welfare state. Many people I know who dislike cat-bothering don't care if the animal has good welfare outside of that situation - they don't like that the situation occurs at all, ever.
So, back to your question. You're wanting to know if it's okay for a zoo to have a drive-through aspect of an exhibit where people get to feed the animals. You're asking if it's safe for the humans and for the animals (which is a welfare question) and if that type of interaction is ethical. I could just tell you that of course it's fine, San Antonio is an AZA zoo and their accreditation only allows them to do "good things" but that's now how it works here (nor is it the reality of accreditation).
The safety aspect is one I'm not worried about. It's actually a pretty common thing for reputable facilities to do some sort of vehicle tour in savanna habitats, whether in the guest's vehicle (safari parks) or on a hay-ride type vehicle (zoos). Many of those allow guests to feed out specific parts of their animals' diets. Offhand, I know Tampa and Fossil Rim both have feeding tours like this in a staff-driven vehicle. It's not specified from the zoo's press release, but I can guarantee you that guests will not be driving those vehicles - which means the interactions will be proctored by staff and what people are feeding out will be carefully regulated. The habitat is going to have rhino, giraffe, zebra, ostrich, and antelope/gazelle, and I'd guess that the drive-through is going to stick to those latter two and maybe additional species. Those are animals where a car is an appropriate safety barrier.
As to if it's ethical to do? It's spiny question, because it depends very directly on the ethical perspectives of the person you're asking. I think it's fine - you may not. Let's break down the different things that come into consideration on the ethical side, and my responses:
- "The zoo is commercially exploiting animals by letting people pay to get closer." If the issue is that people paying to get closer to animals is using them for money, well, that's the business model of a zoo (non-profit or not, they still need revenue to operate). So IMHO it's not like it's "less ethical" than anything else the zoo is doing, using that framing.
- "Zoo animals should be allowed to be wild and undisturbed by guests driving in their habitats." Zoo animals aren't wild, and their entire lives revolve around humans and the human work schedule. As long as a vehicle entering the habitat doesn't have a negative welfare impact (e.g. they're not scared of it), it's not very different from the rest of the routine of managed care.
- "Feeding zoo animals will encourage people to try to feed wild animals." Thanks to obnoxiously viral content creators, people are going to try to feed wild animals no matter what. Doing it in a proctored situation where a staff member can try to do some education at the same time is probably the best possible scenario.
- "People just do those tours to get close to cool animals." People are always going to want to touch the animals. If being able to pay for a tour keeps them from jumping the fence to try to pet a rhino, great.
There's one more that I want to talk about separately, because I think it's where a lot of confusion gets generated. It's this idea that "Humans shouldn't be interacting with animals at all, any interaction is unethical and bad for the animals." This is a welfare crossover, but not one actually informed by welfare science in a captive situation. And I think it's because the internet lacks nuance. Yes, it is absolutely correct to say that with wild animals, you should never ever try to feed a deer out of your car (or similar). It is incredibly harmful to those animals on both an acute and chronic timeline. But thanks to the rage-bait algorithms on social media and people endlessly justifying doing stupid, dangerous, bad things (and getting pushback for it), there's been a lot of bleed between the public's understanding of what wild animal welfare is and what captive animal welfare is. Combine that with the reality that captive animal welfare cannot be assessed or diagnosed from a single context-less clip, and that people with strong beliefs and no practical experience with the field/species/individual will pass judgement loudly to their audiences...
The result is almost a reflexive believe in many sectors of the internet that any human-animal interaction that isn't couched as a "rescue" is inherently unethical, for reasons people often can't articulate. Which is why, I think, so often people want to support certain aspects of captive animal management but feel guilty for doing so. I see this a lot in the questions the blogs gets, and I'm glad people feel comfortable asking, because it's important to think through not just the individual instances but the patterns leading us to question them.
So yes, I'd say that a staff-led experience in a vehicle chosen for safety is an ethical way to proctor an interaction between guests and certain savanna species. It will vary by facility - I'm always more wary about guests driving, although many drive-through safaris are fine - and by setup. I think what San Antonio is doing will be fine, though, and will be interested to see / hear about the setup when they start up.
If you've got a question about ethical captive management, I'm always happy to talk about it - but I'd invite you to poke around in your head a little and send me not just your question in the ask, but your thinking about why or why not something might be concerning. It's great practice for understanding why you relate to animal ethics the way you do, and where those beliefs come from.