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Even if the drive bar is shown, it doesnt mean that there are forms available, as it happens in the Lion King world, where it was confirmed by Nomura in one of the latest interviews that you cant use forms, but the drive bar is still there
lol, Sora goes into drive at Timeless River, and there's no change, except Goofy's gone. XD! That'd be hilairious.
It's possible you can still use magic however, remember, the Drive bar becomes a Summon bar when you do a summon, so if you can still summon, you still need a Drive bar to turn into a summon Gauge.