Our 85-year-old father with dementia did not pass the DMV. He refused to stop driving so we took the keys. He is MAD at us and told us not to come around. He needs help. He refuses to let anyone come in to help. I was doing it before the driving confrontation.
You do need to get that car out of his drive and put somewhere else. If you have POA sell it. Out of sight out of mind. If he asks where it is, its in the shop.
Sounds like you are at a transition point where your father needs more help and it shouldn’t be you 24/7. So here is the usual response — assisted living or bring in outside help so he can continue to live home.
Hope it all works out for you.
You can tell him that "you" did not tell him he should not drive, he failed the test at the DMV.
You can tell him that his doctor also has said he should not drive.
Continue to help him the best you can. Ignore his telling you that you should not come around.