I think both the present participle (or whatever it is) and the bare infinitive are used in these situations about equally. It's a matter of habit as to which version a person prefers.
In your second version, you should stick with the infinitive: "see a driver
open the window and
yell at the other driver"
It would probably be okay to mix infinitive and participle if you didn't use the "and."
We don't see him open the window while yelling and screaming. We don't see him open the window, yelling and screaming.
There are other improvements which need to be made before either version could be described as "natural":
"We don't
often see a driver."
" - - - yelling at the
other driver when his car is almost hit
by another."
" - - - yelling at another driver who has almost hit him."