Unfortunately the exceptions engine does not provide this ability currently, so it is not possible to create a rule that will alert when a driver did not use his NFC key. The trip history would be the way to get this information, however you can use the SDK to assist you in obtaining this information. The trip entity has a driver property which you filter for non drivers to find out all the trips taken without a key swipe. You can reference the SDK page below for more information:
If the drivers are always using the same vehicle, it may be possible to create an exception rule for this. A rule allows you to add a device and driver condition, so basically you need to create a rule that will break if the device goes on a trip without the driver. However you will need to create a rule for every driver and it may not be too feasible if the fleet size is massive.