For both Driver and Irons what is the correct position of your shoulders and hips at impact? I hear with irons cover the ball and with the driver keep your head behind the ball but with these two clubs where are hips and shoulders at the critical impact position?

Sorry to tell you this, but you are clearly a “victim” of style based teaching methods. All the answers to these questions depends on where you currently are at impact and what is your natural style of swing. Unlike many teachers, I teach the same swing with all clubs. That keeps it simple. Good impact is good impact.