UAE visas are only granted on border on arrival but for that you need to have Mohandis "Engineer" resident visa or superior. Below this you can not get visa on arrival. UAE embassy in Doha don't issue visit visa. Similarly all of your family members under your sponsorship will get visa on arrival. Yes you can travel on your car but the car should be on your name and (good enough to get you there:-)). Plus you need to have digital passports.