What component is responsible for the UI you see when a new hardware is attached and detected on your target PC?
The answer is simple - newdev.dll - Add Hardware Device Library. The newdev.dll library can be brought in your image if you add "Add Hardware Control Panel" component.
That library implements all the GUI for the Add New Hardware wizard. It is also getting called from Device Manager when you are trying to Update a driver. It is interesting though the Device Manager does not seem to explicitly depend on the Add Hardware Control Panel component or, at least, newdev.dll (as a rawdep). I'd call this a bug.
If the newdev.dll removed, it gives you an image that is deaf to installing new hardware. Very useful feature for headless devices.