If they're contracted by your insurance, then they know where to pick you up from and where to take you to. As far as I'm concerned, there's not much need for conversation beyond that.
I take Ubers around the city here between work sites, and I pretty much just get in, say hello, confirm the address of where we're going, and put my headphones in and close my eyes. If they ask, I usually just say I'm prone to motion sickness if my eyes are open. Typically, once they see the headphones go in, they don't even try to engage with me.
So I'd suggest trying that? Headphones in and tune out. Their job is to drive you places, not talk to you.