Which sentence is written correctly?

AMatthew didn't have any problems learning to drive, on the highway, yet he still could not learn how to correctly parallel park.

BMatthew didn't have any problems learning to drive on the highway, yet, he still could not learn how to correctly parallel park.

CMatthew didn't have any problems learning to drive on the highway, yet he still could not learn how to correctly parallel park.

DMatthew, didn't have any problems learning to drive on the highway, yet he still could not learn how to correctly parallel park.