Hi Matthias!
Yes, I did some tests without the Wacom drivers with the tablet disconnected. But r23 still crashed and froze.
Another user on this thread has some issues with an another brand tablet. MAXON support suggested to disable the 'Hi-Res Tablet' in the preferences. This worked in his case.
At the moment I'm running Wacom driver (6.4.42.-2) without any problems but with Hi-Res Tablet disabled just to be sure.
If C4D freeze, when you want to disable 'Hi-Res tablet', then you have remove/delete your preferences. Remember to make a backup of your plugins and library folder. Do I restart, disable the checkbox. Close C4D and put your Plugins and Library folder back.