My suggestion would be to not use homebrew at all for this. Selenium hosts Webdriver downloads for all the main browsers:
https://www.selenium.dev/documentation/webdriver/getting_started/install_drivers/And depending on which language you want to use, you can download the relevant jar file that way.
You can craft your own download recipe to download the specific relevant files you need, and then write a .pkg recipe to wrap that up into an Apple package (or a dmg, depending on how you want to do it), and then a .munki recipe to throw it into your repo.
Generally speaking, this will be more reliable, more deterministic, and less failure prone than homebrew on multiple machines. You have one process to manage the entire construction, the package will work the same everywhere, and only one point of failure. Homebrew everywhere and a payload free package to trigger it will introduce every client as a potential failure for any reason, and that will significantly magnify the complexity of the operation.
If you do want to go down the path of using homebrew, you probably don't need autopkg for this particular thing.