We do not have a default report to do this.
In order to check the driver that was driving a specific vehicle at a specific moment you have to use the Track Points panel in the Vehicle Tracker application.
Select the "Track" box for the vehicle you are interested in on the "Vehicles" panel and then mark the "Select" box in the "Tracks" panel for the track you want. The "Track points" panel will be populated with all the messages received from the device that day. In the "Track points" panel click on the menu to the right of the headers for each column to display the list of variables available, there you should find RFID. Once you have checked it, the information will be shown and you can note the RFID to look for it in the Vehicles panel search box. That should show the driver using that RFID.