Definitely not. But this particular law has been held up in court, because it is the actual written law.

https://www.law.cornell.edu/cfr/text/29/782.3#:~:text=MC%2D4%2C%201%20M.C.C.%201,in%20interstate%20or%20foreign%20commerce.

You can find videos of people who do this on principle -- sometimes they're arrested (though most of the time they just get hassled and eventually sent on their way), but the charges almost never stick.

More context:

https://www.law.cornell.edu/cfr/text/49/390.5

"Driver means any person who operates any commercial motor vehicle."

Upon further investigation, this may only hold up on interstate travel.