Driving mode turns on automatically and I can't find the way to keep it off or turn it on manually.
The point is you can't turn it off once it's on. You can change settings to allow for other exception.
OR
Your best option may be to disable it and leave it that way, and choose an app you can turn on and off at will.
Great question. Let's take a look for you. What is the make and model of your device?
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MahrizaM_VZW,
The OP posted their question in the Samsung Galaxy Note 4 space so it is very likely that is the device they are asking about.