What happens if a soldier doesn't do HRAP after AIT? As a married soldier with dependents, how will that work if I want to drive there?

No one has to do HRAP - you volunteer for it. I didn't do it - I just got orders to my first duty assignment and I reported there after I graduated AIT. That's the same whether someone is single without dependents, single with or married. You'll just go wherever you get orders to go and whatever your authorized for your dependents. You can drive there if you want.

Since HRAP is a voluntary program, I would assume that you will just get orders for your first PCS location. When that happens, you should have to attend a series of Levy Briefings that will include everything from apply for a sponsor to moving and travel. That should provide you will all the information that you need.

You take leave and drive. Am I missing something?