You can actually literally watch marcan/lina/(more rarely)alyssa from asahi work on livestreams :) No, they don't actually do that kind of clean-room. There's no issue with learning about how the hardware works and directly applying that to writing drivers! Hardware and drivers aren't even comparable, they're complementary. One basically cannot infringe on the other.
Clean-room techniques come from actually cloning very similar things. Basically the original Phoenix BIOS cloning IBM. As a more recent example Wine/ReactOS.