I'm not sure it's correct that custom root certs are allowed for drivers. I asked this in another comment.
I assume this is what ADB does, using the Microsoft provided WinUSB kernel mode driver and associating it with your mobile phone USB vendor and product ID. There's not a single line of code in such a driver, just some INF descriptors.
There might also be different forms of user mode driver, not sure how they work.
You mean a user-mode application? A user-mode driver is something you write instead of a kernel-mode driver (when it's possible), not on top of it. (?)
KMDF drivers have to be signed with a CA that's not user installed while UMDF drivers may be.