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questions.cms.gov/faq.php?id=5005&faqId=2389 addreses it specifically, sometimes the answer might be yes. (The stereotypical little old "Sunday Driver" could posibly be OK.)
www.medicare.gov/Pubs/pdf/10969.pdf
This whole mess is still terribly inappropriate for people with physical disabilities who need attendant care to get up and about but then can be active in any pursuit they can physically perform, modified or otherwise.
Once your MD says you should not drive, your license is suspended. So take the car away immediately, off the premises. If she gets in a wreck, she will lose everything when the victims sue the pants off of her.