I see your parent for 15 minutes. Cognition seems fine. They’ve always seemed fine in clinic. If you see things you’re worried about then YOU call the DMV or take away their access to drive. If the doc is able to find something in their 10-20 minute visit then they’re either delirious or their driving should have been restricted long ago.
While I’m at it I detest the stupid DMV forms with all of my heart.