I will show you how to restart your Wacom tablet driver with a press of a shortcut. The key to this is scripting, particularly AppleScript, and a way to run that script.
The AppleScript
on run
set app_name to "WacomTabletDriver"
do shell script "killall " & app_name
delay 1
tell application app_name to activate
end run
It's very barebones. It looks up the driver process and kills it, then waits one second and runs it again. That's it.
Run the script
I run the script via Keyboard Maestro so I just need to press some keys in my keyboard, but you could run an executable (you can download it here) via Spotlight or Alfred. I run the script, wait few seconds and the tablet works again.

So that's how you restart your Wacom tablet with AppleScript! I wish you a bug-free drawing session!
Troubleshooting
If for any reason, the driver stops but doesn't restart, you can run it manually by:

- Open the Wacom Tablet folder in your application folder (⇧⌘A to get to the Applications folder in Finder)
- Hit ⇧⌘. to reveal hidden files.
- Open the folder called “.Tablet”.
- Run the app called “WacomTabletDriver.app”
- Hit ⇧⌘. again to hide those files.
- That’s it!
You could also try increasing the delay in the AppleScript to 2 or more to give the computer more time.
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