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In Massachusetts there are laws very specific to building distances from septic. Some of these are that the leaching component (whether it is perf pipe in trenches or leaching chambers) have to be at least 20' from a full basement, 10 feet from a crawl space or garage, 15' from a 3:1 slope, 25' from a drywell or drainage leachpit, three feet or less to the grade above, and 20' from a swimming pool.
There are different standards for septic system components for ability to handle a load. The ones that can be driven over have what is called an H20 rating, the others are H10. H20's are used under driveways and in areas where it is likely that they would be driven on.
You should be able to get a copy of the septic system design from the local health department if it is not a really old system (assuming these are as regulated as here). If you do, you may want to make a friendly inquiry to the engineer who designed it to ask him whether it should be safe.
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