You probably only need ONE PK. Use the VIN since it's absolutely unique. Registration Number could be "re-used" across states/provinces.
Your "Composite Primary Keys" will be on your join tables where needed.
VEHICLE_TABLE
VIN nvarchar(50) [pk]
RegistrationNumber nvarchar(50)
NumberOfPassengers int
Make nvarchar(20)
Model nvarchar(20)
Color nvarchar (20)
Features nvarchar(MAX)
DRIVER_TABLE
DriverID int [pk]
Name nvarchar(20)
Address nvarchar(50)
OtherCrap nvarchar(MAX)
POSITION_TABLE
PositionID int [pk]
Position nvarchar(50)
MAINTENANCE_TABLE
MaintenanceID int [pk]
VIN nvarchar(50) [fk - VEHICLE_TABLE.VIN]
Odometer decimal(9,2)
MaintenanceDate DateTime
STAFF_TABLE
StaffID int [pk]
Name nvarchar(20)
PositionID int [fk - POSITION_TABLE.PositionID]
VEHICLE_JOIN_DRIVER_TABLE
VIN nvarchar(50) [cpk fk - VEHICLE_TABLE.VIN]
DriverID int [cpk fk - DRIVER_TABLE.DriverID]
VEHICLE_JOIN_STAFF_TABLE
VIN nvarchar(50) [cpk fk - VEHICLE_TABLE.VIN]
DriverID int [cpk fk - DRIVER_TABLE.DriverID]
StaffID int [cpk fk - STAFF_TABLE.StaffID]
This answer also attempts to "somewhat" answer your other question.
What is the PK and FK i should assign to my table?