I do not think people who rely on medication like Adderall or antidepressants should be allowed to drive.
Wow, I found myself so annoyed by your post I wanted to reply with "Fuck you!" However that's hardly constructive, even if it is in character. (Yeah, I'm trying to evolve.)
Anyway: some of us are productive, helpful, compassionate and useful members of society, but only when we take our medication on a regular basis. Typically we're not proud of that fact but it beats the alternative.
If it helps you feel better: when some of us identified by this generalisation fail to take our medication - for whatever reason - we suffer a special kind of agony that cannot be described or explained adequately to someone who does not need medication to function normally. Consider it a significant punishment, if that eases your conscience. In my own experience I've found it can take weeks to fully return to normal.
Would you feel as coldly towards a person suffering diabetes? A person who needs daily finger-prick blood testing and may even require insulin injections?
We didn't get to choose our brains or our bodies, just like you didn't get to choose yours.
Besides, if I had a choice I'd naturally rather be a unicorn, just like every other sane person out there.