Yes and no
Hearing helps you no a emergency vehicle is approaching. Have you ever paused at a green light because you heard sirens? I would hope so! Or what about if you're making a mistake, other drivers blasting their horn before you make one like merging in on them because they're in your blind spot.
I personally have 0 problems with deaf people driving, but at the same time they should be paying extra attention to their surroundings. If you can't notice flashing lights in your rear-view mirror, you shouldn't be driving.