Driver Store Explorer has the option to automatically select only Old, Unused versions of Drivers, and remove them. This is the safest, and though not reccomended, you are also able to delete or force delete "by hand" by individually choosing whatever you want to remove. The program also has options to backup driver store or export individual drivers, so it's reccommended to do that before touching anything. Also handy is the option to install drivers directly into the driver store.
Here is the project's web page:
GitHub - lostindark/DriverStoreExplorer: Driver Store Explorer [RAPR]
Honestly just only do the delete Old, Unused versions of Drivers menu option. Even if some drivers seem to be not used, they could be some sort of dependencies or important fallbacks, and you will very likely screw things up with manually messing around in the Driver Store.
*Note the alternative name of the program, [RAPR], as a warning of sorts for the power of the program and thus the massively increased likelihood to potentially easily completely screw up a system, even if you think you know what you're doing (Windows is very picky about Drivers and just is very picky about the whole thing, and this program enables a nearly-complete bypass of typical Windows Safeguards/settings, and so behavior can never be fully expected)*
