Drivers do curse frequently but it is always bleeped.
F1 Is not only vulgar, but it is THE most profanity inducing sport in the existence of humanity. With multiple and intense uses of fuck, shit, wanker, dickhead, etc. Any and all kinds of swear words are used excessively, sometimes even in the native language.
In the present era, Max Verstappen is the most vulgar driver of the grid. Swearing practically every second he can and quite heavily at the same time. Past awards went to Nelson Piquet, Kimi Raikkonen and Sebastian Vettel.
Even if profanity isn't used deliberately, sometimes, drivers nag the middle finger at drivers, or make angry gestures. Punching the steering wheel, shaking their hands, or sometimes, in rare ocassions confront each other off track.
Though the television broadcast censors any and all profanity, whoever has an F1 TV subscription, either basic for it's archive, or pro for the live streaming, can either way have access to all the onboard cameras of every driver on track. Which means, if you were to use it, all the swearing that would be censored on TV, is uncensored.