Are the actions performed by the driver—touching, reciting, massaging, and claiming the presence of a 'jinn of love'—considered forbidden (haram), and do they necessitate a punishment?

What the driver did is forbidden, and it was a mistake on the questioner's part. This act is characteristic of sorcerers, not legitimate ruqyah practitioners, as lawful ruqyah does not necessitate touching a woman's body. There is no specific punishment for this act; what is required is seeking forgiveness and not repeating it. Moreover, a woman should not ride alone with a driver.