It would be possible in theory to use Firmata or similar as a way to interact with pins remotely and put the driver logic on the client on a PC, but it would give extremely limited performance and be more complicated to implement and would give you no advantages at all that I can think of. Perhaps that explains why it is not common for people to write device drivers using that approach. There's nothing stopping you from writing your own like that if you want, and perhaps you could use the Arduino libraries for inspiration, but frankly it strikes me as a daft approach.
What would be slightly less daft, but only slightly, is to write your libraries on Bitlash so that you can download then to the Arduino without uploading a new sketch. It would be a much more complicated solution (bit not as bad as the Firmata approach) and I still can't imagine what benefits this would give you to justify such a contrived approach. But it's technically feasible.