You answer it "I currently don't but would be willing to get one (and insurance, of course) if needed for the job, or rent a car occasionally. I do have a driver's license. What does the company pay employees for business use of personal vehicles, and would you reimburse rentals?"
When the correct answer is a nontrivial one, don't try to simplify it to yes/no. If the form only permits yes/no, send a separate clarification.
If they can't deal with that minor complication, you really don't want to work for them.