I'm not using the pins, I'm using the 5V output.
Confusion of terms here, you are using pins to control the transistors. Have you got base resistors in the transistors?
How have you wired it up?
But I need to put some resistance on it otherwise the transistors burn out.
Sounds like you have some shoot through rather than a problem of current limit. What transistors are you using?
So, if I use a driver, and put 5V through it directly with no resistance, then it should all be fine?
Providing your driver can take the 500mA current you need.