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I am developing with the Nexus S, and would like to know if there is a way I can access\modify the drivers on this device? I may be looking into building my own device, however if there is a way I can use an existing phone first to try this out would be helpful.
Yes, there is a non-hack official method by which you can unlock the Nexus S bootloader to install your own build from AOSP sources, or from one of the community-developed roms.
I’d suggest installing something built from unmodified sources to verify that you have the process down before you change anything. You will also want that as a snapshot to go back to if your break something in your changes.
You may not need to replace the entire ROM; depending on what you want to change you might be able to just install a custom kernel and/or add some loadable modules and change a few related startup scripts using root access (which you would presumably achieve somewhere along the way).