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Check the sysinternals forums. There is (at least) a thread regarding this issue, and the quick answer is "You can't".
There is no 100% safe way of unloading a kernel driver, that's why the author didn't implement this.
Your options seem to be:
- reboot to unload the driver
- patch the app+driver to avoid detection whenever you load it
- code your own almost-safe way to unload the driver (?)
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