Can I use Docker in a runner on Nomad?

I have a Waypoint runner task running in a Nomad cluster. I have it watching a remote git repository.

          app "test" {
              build {
                use "docker" {}
              }
              deploy {
                use "docker" {}
              }
          }

When the runner sees a change in the repository and tries to run the build step, it returns an error:

2022-11-03T03:17:08.951Z [WARN]  waypoint.runner.agent.runner: error during job execution:
  job_id=01GGXQW1Y1JETX8T7F1GHFY94G
  job_op=*gen.Job_Up
  err="rpc error:
    code = Internal
    desc = error building image:
      Cannot connect to the Docker daemon at unix:///var/run/docker.sock.
      Is the docker daemon running?"

Can Docker be used in this way? I found a post that mentioned a lack of support for docker-pull in on-demand runners. Perhaps this is related.

Here is my task definition:

    task "runner" {
      driver = "exec"
      lifecycle {
        hook    = "poststart"
        sidecar = "true"
      }
      config {
        command = "/bin/bash"
        args    = ["${NOMAD_TASK_DIR}/waypoint_runner.sh"]
      }
      template {
        destination = "${NOMAD_TASK_DIR}/waypoint_runner.sh"
        perms       = "644"
        data        = <<EOF
          #!/bin/bash
          set -eux

          until [ -s ${NOMAD_ALLOC_DIR}/bootstrap.token ]; do
            sleep 1
          done

          export WAYPOINT_SERVER_ADDR="localhost:{{ env "NOMAD_PORT_server" }}"
          export WAYPOINT_SERVER_TLS=true
          export WAYPOINT_SERVER_TLS_SKIP_VERIFY=true
          export WAYPOINT_SERVER_TOKEN=$(<{{env "NOMAD_ALLOC_DIR"}}/bootstrap.token)
          ${NOMAD_ALLOC_DIR}/waypoint runner agent
        EOF
      }
    }

I switched the task driver to raw_exec and now we are getting somewhere. If I can figure out how the runner is calling docker and what it needs…

[WARN]  waypoint.runner.agent.runner: error during job execution:
  job_id=01GH030JBAHFC2BNXE34C39Z9G
  job_op=*gen.Job_Up
  err="rpc error: code = Internal desc =
    unable to stream build logs to the terminal:
    ADD failed: file not found in build context or excluded
    by .dockerignore: stat workspace/: file does not exist"