The relative clause here is "der fuhr". So the verb IS at the end of the relative clause. The main clause is "Der Mann ist mein Vater", with the relative clause being an attribute to the subject "Der Mann". So the verb comes in 2nd Position right after the subject.

The verb only goes to the end in a subordinary clause (Nebensatz). In other words, it only does so when you see one of these conjunctions: Als, bevor, bis, dass, damit, ob, obwohl, seit, sobald, sofern, soweit, sowie, während, weil, wenn, wie, wo. Example: Ich bin heute nicht zur Arbeit gegangen, denn ich war krank. (No subordinary conjunction) Ich bin heute nicht zur Arbeit gegangen, weil ich krank war. (Weil creates subordinary clause)

"der Mann, der fuhr, ist mein Vater" --> O homem, que dirigiu, é o meu pai. (The man, who drove, is my father.) A frase principal é "der Mann ist mein Vater" (o homem é o meu pai), e a oração subordinada é "der fuhr" (que dirigiu). Portanto, a regra mantém: o verbo conjugado na frase principal é à segunda posição. A ilusão era a causa de que a oração subordinada seja posta antes do verbo conjugado. === Ich wünsche Dir einen schönen Tag.／Desejo que tenhas um bom dia.