That depends on the sophistication of the attack.
The likely scenario is that the vendor just added a malicious file to the driver archive. You could search for compatible drivers online to obtain a trusted version of the software and you'd be fine. (Does that piece of hardware actually need that custom driver or can you just use it without installing extra software?)
The bad case scenario is that the vendor went one step further and also modified the firmware of the device. That's something you can't easily verify and your only option would be dumping driver and hardware altogether. The BadUSB project was a good demonstration of how straightforward it is to hide malware in the firmware of peripherals, in that case reprogramming the controller chips of USB devices.
Most members of Sec.SE would probably advise you to assume the latter and not use the hardware at all. I'd say it depends on the situation and type of hardware on which you didn't give additional info.