The Viking program was resigned to regarding the surface soil as untrustworthy for at least some (if not all) of their experiments. To get around this, the landers' robotic arms dug a few inches into the Martian surface to reach uncontaminated soil.

As for driving, the other commenters have it right: Curiosity isn't particularly fast and it's nice to start the scientific experiments sooner, rather than later. Moreover, driving around consumes limited electrical power which has to be shared with all the other systems on board, including transmitters and scientific instruments. Every minute spent moving from place to place is a minute of reduced data collection.

They drive at mm/s speeds. Moving over a few meters because the soil is stirred up is a huge waste of energy and time, not to mention the risk of failure.