I think their might be a naming issue here. I was going by the wikipedia article for biodiesel which says it’s made directly from crops and it’s
Unlike the vegetable and waste oils used to fuel converted diesel engines
Which seems like what your talking about. It doesn’t seem to point to a name for that though, maybe just biofuel. It does say some biodiesel is made from waste oil but also that:
the available supply is drastically less than the amount of petroleum-based fuel that is burned for transportation and home heating in the world, this local solution could not scale to the current rate of consumption.
And that about half of current U.S production is from virgin oil feedstock. 10% of all grain is already used for biofuel, and that’s just to cover the bit of ethanol used for petrol, if we transitioned even a fraction of cars to full biofuel that number would go up by a lot.
There’s also still an opportunity cost with even the waste oil. If we have the capacity to collect and refine waste oils into fuel, then we can probably also just recycle it and refine it back to food standards.