efficiency at what? converting gasoline into CO2 + H2O + NOx?
yes. unless you did not return to the same elevation from which you began your journey, in that case some of the energy was temporarily converted into potential energy care of gravity...or you stopped your journey at a lower elevation than you began and so not only did you convert 100% of the gasoline's energy into heat but you also converted some potential energy from gravity into heat as well.
if your 100km journey was a closed-path, end-point is the same as the start-point, then yes 100% of the gasoline's energy was converted to heat by the time your trip came to an end.
http://www.school-for-champions.com/science/thermodynamics.htm