I mean, it depends. I would if they were late by 5–10 mins and I wasn’t in a hurry. Also if the driver was nice and the trip went smoothly. So much depends on a driver as a person and their actions after they arrive. Like, were they apologetic, did they explain the situation (tho I probably wouldn’t wanna know), were they friendly, was the atmosphere inside the car nice? If the only flaw of that driver was them being 10 mins late, then all the frustration would probably go away by the end of the road. So, in that case, I would give a tip.
If it were more than 10 mins or if I was in a hurry, then no, I wouldn’t tip. The only thing that would change my mind is if we still arrived at my destination on time. That would probably impress me so much that I would tip the driver. Them being late isn’t a problem itself, the consequences of that are. But if those consequences are minimized or prevented at all, then I would be okay with the lateness.
Also, if the driver picks the longest road to get to my destination, and therefore we are late, then no tip.