The only waiver allowed is for NON-TACTICAL vehicles with a GVW of under 10,000 pounds and it must come from an installation commander, or for USAR the RSC Commander and for ARNG the state Adjudant General.
There are no waivers for even that at company or battalion level.
There are no waivers for tactical vehicle operators, period.
Even an Incedental Permit, the closest one to what you want to do, requires testing and instruction.
I have seen careers and lives ruined over this, so I take it very seriously. I get peope all the time telling me that things are waiverable..... but unless they can find it in the AR, it is not so. And when the accident happens and the training is not there, whoever signed that license is in deep trouble, no matter who said otherwise.
Been there, done that, always had my shit in order and damm glad I did.
I suggest you download AR 600-55 and look into it, and if your unit lacks a functioning divers training program or SOP I can direct you to the resources you would need to fix that.
But shortcuts in training and standards get soldiers killed.