TL;DR
Most queue or distributed processes are going to require some sort of serialization to work properly. If you want to pass objects rather than messages, then this will a limiting factor in how you approach the problem.
DRb
I don't know if you can marshal a WebDriver object. If you can't, then DRb may be a good choice for your distributed Ruby programs because it supports DRbObject references for things that can't be marshaled. There are some examples provided in the DRb documentation.
Selenium Wire Protocol
Depending on what you're really trying to do, it may be worth taking a closer look at using the remote bindings for the Remote WebDriver client/server, or Selenium's JSON Wire Protocol as an alternative to passing objects between processes.
Other Alternatives: Fixtures, Factories, Stubs, and Mocks
Whether or not these work in your specific case will depend a lot on why you want to pass objects instead of simply driving the remote server. If it's largely an issue of how long it takes to build your object, then the serialization/de-serialization cycle may not necessarily be faster in all cases.
You might want to revisit why your object is so slow to create. If gathering and processing the data for it is what's taking too long, you can use some sort of test fixture or factory to trim that time, either by using a smaller set of fixed data, or using a pre-serialized object that's optimized for speed.
You might also consider whether you actually need real data or objects for your test at all. In many cases, you can speed up your tests a lot by stubbing methods or creating mock objects that will return the values you need for your integration tests without needing to perform expensive calculations or long-running operations.
There are certainly cases where you need to drive the full stack and perform acceptance tests on real data. Even then, you may be able to devise a set of fixture data that will take less time or memory to process. It's certainly worth at least thinking about.