Would using any of the ROM routines be an option for an os, so my disk driver would call scsi.library?
It's scsi.device. Anyway, to use the device, you'd need to implement exec-like resident scanning, resident initialization, library interface, message interface (ports), device interface (iorequests). You'd probably also need to implement exec memory interface, and various other parts the device uses.
In short, less than trivial. But it can be done.