Hello Michael Friend,
To disable Driving Mode in Google Maps, follow these steps:
1. Open Google Maps and tap your profile icon in the upper right corner.
2. Select Settings > Navigation settings > Google Assistant settings.
3. The slider next to the Driving Mode option will be activated (indicated by a checkmark symbol).
4. Tap the slider to deactivate Driving Mode.
If that is not what is causing DND to be enabled then check the following:
Locate the Settings app of your Pixel (3 or later), and select Connected Devices.
Select Connection Preferences, then Driving Mode and turn it off.