There are handheld / hand-driven screwdrivers that have replacable... bits, I guess one would call them. I have one that switched between large and small blade and Phillips heads. Now that I check, I also have an inexpensive Husky screwdriver/bit set that was a Secret Santa gift; it has hex bits, though I haven't used them.

I'd think before using it for IKEA assembly, though. For the trestles, the screws required significant torque to penetrate. Applying that repeatedly for these not too short screw, by using one's wrists and a screwdriver grip, I imagine would quickly become tiring. A nice thing about the IKEA "throw-away" wrench is that its S shape allows one to create significant torque with a finger grip, lessening strain on / torsion of the wrist.