Well, SONAR does not really decide on whether or not the installs are bad, but decides on behavior. So, if a driver gets installed using an automated process, SONAR will detect it as a driver install, and reverse it.
Now, the install can be done in Safe Mode, but must be as an Administrator. Norton's products do not need uninstalled, but any serious system changes must be done in Safe Mode due to Norton's SONAR behavior detection component.
Otherwise, to do it in Normal Mode, you would first have to disable protection/exit Norton's products, then disable Norton's Non-Plug-And-Play driver(s). And then try the driver install.