You're comparing apples to oranges. Driving isn't a right; but a privilege.
knowingly endangering other people isn't a right or a privilege. It's a crime.
That's not always true otherwise there wouldn't be religious or medical exemptions to vaccines.
There should be no religious exemptions.
Medical exemptions exist because while the reward of herd immunity is basically the same for everyone the risk needed to get it isn't. However, the patient's doctor shouldn't be allowed to grant them, but rather submit a documented request so there's no issue of pressuring the doctor to issue it.