I am assuming that you have this relationship:
Drivers::__pkDriverID = Availability::_fkDriverID
If so, then use two relationships to Tutorial: What are Table Occurrences? of Availability that match to records using both departure and arrival dates as match fields.
Drivers::gArrivalDate = Availability 2::Date
Drivers::gDepartureDate = Availability 3::Date
You can then perform a find on your Drivers layout for records with "Yes" in both Availability 2::Availability and Availability 3::Availability.
gArrivalDate and gDeparture date would be global date fields.
For an explanation of the notation that I am using, see the first post of: Common Forum Relationship and Field Notations Explained
For examples of scripted finds, see: Scripted Find Examples