What is a Driver?

It is an inverter circuit that drives a motor.
For example, a three-phase small motor has 6 power elements and 6 diodes. The power elements have transistors, FETs, IGBTs, etc.
Since the actual motor is driven by a high voltage and current, a drive circuit, which converts the PWM output of the control circuit to high voltage and large current, is required.

A pre-driver is required since a high drive current supporting around 12 volts is required to drive power elements such as FETs and IGBTs that drive the motors.
A low power motor with low voltage can be driven without a pre-driver.