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Is it constitutional for the government to require a license to drive? There's nothing in the US Constitution giving the Federal government any right to license drivers.
However, traveling does not equate to driving. In the Constitution's view, travel refers to moving freely between states, not the unlicensed operation of a vehicle. This point was strongly reinforced in Saenz v. Roe (1999), rejecting the belief in an absolute, unrestricted freedom.
If you are driving, then you always need to carry a driver's license while operating a vehicle. Therefore, if you are moving between states by driving, you will need to have your license. However, the driver's license is not necessary to the right to travel.
While rights like freedom of speech, religion, and assembly are inherent and unalienable, driving is not on this list. It's not an inherent right, but a privilege granted by the state – a privilege that comes with rules and regulations, crucially including a driver's license and vehicle registration.
357 U. S. 117-130. (a) The right to travel is a part of the "liberty" of which a citizen cannot be deprived without due process of law under the Fifth Amendment. Pp. 357 U. S. 125-127.