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Yup. His clothes change depending on what Formchange he uses, and we also know that it serves relatively the same purpose as what Keyblade Armor do -- Darkness protection. Drive Forms were basically him using compartmentalized aspects of his powers he didn't have access to. Most of them were specialized to cover a certain area specifically, although there were some that were all-around boosts.Drive Forms are due to the magic of the clothes provided to Sora by the fairies in KH2.
Form changes, on the other hand, are a skill that any experienced Keyblade wielder can use, regardless of what they’re wearing. Remember that they were first used by the BBS trio.
So in terms of what they are and how they’re used in canon, no, they aren’t really connected despite some similarities.
But from a gameplay design standpoint, yes. Form changes were Nomura’s way of evolving the drive system for BBS.