With a timestamp, as long as the signing date was within the signing cert's validity period, the signed driver continues to be trusted beyond the signing certificate expiration.
CRL in the driver install flow implies being online (at some point) to install drivers too. As we move into the future it’s hard to imagine not having Internet access, but we also don’t design Windows. It’s definitely a case they’ve considered, though I did see mention of a timestamp server in this thread (I don’t know much about Windows signing, just X.509 PKI in general).
[Edit: It may not be this simple. See the top-level comment by r1ch about timestamp servers.]
Putting expiration dates on non-malicious drivers is not a particularly effective way to protect against malicious drivers.
I was replying to this part of your comment. It does seem worthwhile to validate the signature of the driver every time the driver is used if that check would reveal when a certificate has been revoked for having been compromised.
Agreed that the expiration time is not particularly useful for this purpose.