No, I'm not sure that's the case, Dan. There are quite a number of things that come into play. One really needs to see the topology you are planning to work with and what exactly you are calling a driver. Are we talking about picking up from the output from the VAS? Or, at the other extreme, would you call the first transistor in a CFP a driver? And is it just emitter resistors, or are we looking at the whole current going down that arm?
Perhaps the most basic criterion must be that your output devices are able to deliver the current you expect, especially when their beta has dropped off to 20, or perhaps even 5. A proportion of that has to be available at the base. So that, taking into account wide tolerances, defines your maximum.
If one looks at that last as a simple example (the CFP), Cordell puts 100R in there as a 'reasonable' value, but then complains (he is not a CFP fan, though Doug Self is) that there is only 5mA of switch-off current. Quite why he doesn't halve or quarter the value, I don't know - perhaps he has an answer to that. But this is another factor to take into account.
A third, which is covered by a few people above, is the output impedance on each half. In some designs you can even see asymmetrical choices of resistors for just this reason. And on quasi-complementary designs, if you don't hate them as Self and others do, it can get really quite complicated.
You really do need bench measurements for this, as ultimately it cannot be done on paper alone. But to see people who put a lot of effort into their output stages have a look at the Bryston amps, where the schematics are kindly published on line.