My Doc never mentioned driving or not......I waited a few days, 3-4 don't remember which...slapped on the leg bag and was driving. Of course not if I'd popped a pain pill, didn't really use too many.
When you get home though, shave your inner thighs, saves some uncomfortable moments when switching the tape securing the cath tube from one leg to the other. I forget who on here told me to do this....good advice though.