Yeah the driver closes the doors on Voyagers, once the Train Manager (TM) has instructed them to do so.
The process (once either they have been given the signal to do so by platform staff, or alternatively at an unstaffed station judged it safe to so do theirself) is:
TM puts their key in (and turns it- otherwise no good

) the control panel by the door they are at. Signals 1-2 over the pass com thingy, to tell the driver to close the doors. (Driver repeats the signal back & closes doors)
TM ensures that doors are safely closed- no one trapped etc. Then gets back onto the train, closes their door using the same button which passengers use to close the door. Once closed, TM gives two beeps to the driver to give the ok to proceed, driver repeats back/starts the train moving,
and the TM stays by their door as normal to ensure no problems occur as the train pulls out of the station.
All very simple, but the way i've tried to explain it probably makes it look like a very complicated procedure.