Is it require to use DAML drivers API by all parties involved in transaction if one party use DAML? Assume all the parties are on different VM
As a first approximation, you can think of a Daml ledger as a (very powerful) database that can be shared between multiple applications run by different parties.
One of these applications could have a UI accessible to other people, so in that sense you could have a system where Daml is just an internal implementation detail of an application exposed to different parties, and then the answer to your question is no: only the party that uses Daml internally would need to know about it and use the Daml APIs.