With that term "kidnapped by force" being used (whereas was not for Libby Squire) and with what
@lello2 pointed out about the driveway going across the pathway, so dipped kerb and he could have pulled up on it on the pavement and probably just looked like an Uber picking up/dropping off (so no immediate alert in her mind or anyone else's), it makes sense that he could have easily and quickly snatched her (given his training) without anyone even noticing on the night - and hence it was only by chance having the police and bus dashcam footage to study afterwards they worked out what happened.