It’s beyond that, the context even matters. If I’m in my garage, and my car is parked in the driveway:

-If someone asks where the car is (implication my wife could be out getting groceries, it could be at the shop, etc…) the answer is “here” (on the premises) as opposed to “there” (the grocery store, the shop, etc)

-If I want to change the oil in my garage, I could as someone to bring it “here” (being the garage) because it’s currently “there” (the driveway).

In both cases, my location and the vehicles location is the exact same. “For what purpose?” Informs if something is “here” or “there”.