If you are moving, the vehicle needs to get some control command in some fashion every round.
It doesn't have to be the first IP in the round, but at some point in the round a driving test needs to be made.
So, yes, this does mean that much of the time a rigger "wastes" an IP just commanding the vehicle.
If the vehicle is stationary most GMs will allow you to not have to do this.
That said, I wish the rigging rules treated VR Jumped-in vehicle movement like regular character movement, so you'd just get your move alongside your other actions and it doesn't take up an action. But alas.
-k