There are several things in your question.
The error you are facing comes from SDN not knowing which entity to choose from to map. So there might be already mapped objects in the cache or the record contains the same entity twice.
The root problem is that you are apparently trying to map not an entity but an aggregate. This is not possible with the repositories because they are entity-focused.
We have you covered here: Use the Neo4jClient and rely on the existing mapping functions for People. The relationship needs to get manually mapped because it is not a real entity. How to do this is described in the documentation: Spring Data Neo4j
In this case you would keep the Driver Relationship in the Triple. It has access to start and end that gives you the information about the outgoing and incoming id of the connected nodes.