All of your sentences are correct. The difference between them is that the -ing endings give the idea that the action was of a longer duraction in comparison to the other events that were happening. If you were mentioning to a friend that you saw him doing the activity during your drive home, and that was all you sw him doing, you would probably use the -ing ending.
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User_garyI saw him drive through the tunnel. I saw him driving through the tunnel.The first is: He drove through the tunnel, and I saw that (saw the whole event; saw him go in one end and come out the other end).
User_gary