Since this question specifically asked about restoring from Google Drive, I'll also outline how to do that.
On the profile you wish to use with WhatsApp, install Play Services and Play Store from Apps. Login to your Google account. Install Google Drive from the Play Store. Confirm you're logged in to Google Drive.
Then install WhatsApp from the Play Store on that same profile and restore normally from Google Drive using the app as you would on normal Android.
The most important step is to make sure you install WhatsApp AFTER you have Google Drive installed and you're logged in or WhatsApp won't be able to find the backup nor will it be able to make cloud backups in the future.
If you do go this route, be sure to turn on end-to-end encrypted backups in WhatsApp if you haven't already.
After this, WhatsApp will function basically the same as it does on stock.
Another helpful hint is to remind you about Contact and Storage scopes features available on GrapheneOS, which come in handy with apps like WhatsApp that demands contacts and full storage permissions despite not needing them to function.