Here’s a great resource The Annotated version of the constitution By Quick and Garran, written quite shortly after the Australian Constitution was written.
This book offers interpretation of what the constitution actually means in law and how different sections, once combined with each other, offer greater clarity to each section and a deeper meaning.
So if you want to know what justification people use for not having a driver license, it’s all in here.
A driver is an occupation title; so if you are not paid to travel in an automobile, you do not need a license to do so.
If you get any grief about this, just ask this:
Do you have the pay slip that proves that I am/was the driver?
Of course they don’t so therefore you are not the driver, you are merely a traveler free to go about your affairs.
Furthermore if you do need a license because you are a professional driver, the license itself is available for free.