HMRC guidence : Employee Factsheet.
Based on the above, HMRC will let you claim the expenses tax free but I expect it's down to your employer what their policy is.
Work Journeys
Journeys that you have to make in the course of your job. Examples include delivering goods and making calls to customers
Non-work journeys
Journeys to and from your place of work (commuting journeys), even if you call at a client’s on the way to work (unless the journey is significantly different from your usual work journey)
Based on the above, HMRC will let you claim the expenses tax free but I expect it's down to your employer what their policy is.