So far, only about 13,000 drivers have done so, says Deputy Human Resources Minister Mahfuz Omar.
The organisation says a total of 1,324 town hall sessions have been held to explain the scheme and its benefits since it was introduced in 2017.
Self-employed workers should also receive protection in the event of an accident, says minister.
Ramai pekerja yang tercedera berasa takut untuk menuntut pampasan kerana tidak mahu kehilangan kerja mereka.
EPF and Socso are preparing a blueprint amid concerns that savings are not enough for retirees.
Socso says its services are free and there is no need for middlemen.
The magistrate says the delay in submitting the reports had caused the workers' next of kin to wait for their Socso benefits.
Angka Kementerian Sumber Manusia menunjukkan hanya 7,774 (7.7%) daripada 100,000 pemandu teksi menyumbang kepada Socso sehingga 7 Jan tahun ini.
It says many see insurance coverage as a burden.
Socso says the manufacturing and construction industries recorded the highest number of job losses in 2018.
Its deputy chief executive (corporate) Azlaily Abdul Rahman says the country must also sign an MoU with the source country.
They say the suggestion goes against human rights principles and encourages bonded labour.
The 5 months' salary arrears and other benefits amount to RM6 million.
They say they are aware of the importance of having insurance coverage but they just can't afford it.
The human resources ministry is working with the transport ministry on a mechanism to bar these drivers from renewing their licence if they refuse to contribute to Socso.
Putrajaya's decision is seen as in line with international labour standards.
MTUC says the move is long overdue while Tenaganita says a monitoring system should be set up to ensure transparency in the deduction of monthly wages.
Human Resources Minister M Kulasegaran says it is in line with the international labour convention, ratified by Malaysia some years back.
Human resources ministry is proposing that drivers show proof they are contributing to sceheme when renewing their licence.
There should be a contributory social protection scheme for freelancers for workplace injuries, accident protection and other contingencies.
The Allianz General Insurance (Malaysia) Berhad CEO takes over from Aseh Che Mat on Oct 8.
Yeah Kim Leng says the government should enact a special social security net for those who are not in formal sectors while Barjoyai Bardai suggests prioritising insurance over EPF savings.
The Social Security Organisation is working with the police to reduce the high accident and death rates at 'black spot' areas.
Government agencies and departments to meet in August at a special conference to look into technicalities such as EPF Acts' protection of members' contributions.