First of all - you are extremely brave for putting this out here on a public forum. I'm glad to see you've gotten positive responses.
As far as your history - some places are very strict about suspensions - it is entirely dependent on the insurer of the ambulance service as that is what ultimately determines it. Now, all that being said, here's how I would handle it - I would simply state that the suspension occurred as a result of a medical issue that has since resolved (no need to volunteer more than neccessary, but assure them that it is okay now) and that you have safely driven for the last two years. Often times a suspension just shows as a suspension and doesn't specify whether it's due to a failure to appear, excessive tickets, reckless driving, medical reasons, DUI, etc. There are many reasons that a license can be suspended, and sometimes it's dependent on the type of suspension you receive, sometimes it doesn't.
Also, considering your license was suspended due to a medical issue (and a mental health one on that) I would definitely have your doctor write a letter supporting that you can safely work in the EMS environment (as without a doubt they will have some concerns) and also that you can drive in a safe manner. That way, if questions are brought up during the interview afterwards, then you can have that to support things. Technically, they cannot deny you employment based on disability be it prior or current, but they can request evidence that you have a statement proving you are able to work without concern. (I wouldn't volunteer the mental health info though unless required - just say health issue as technically it's illegal to ask on a form whether you have a disability to require accomodation or not).
You could always call in advance of submitting your application and beginning the process to see what their hiring policy on suspensions is without anything being released. Just call and say "I was wondering what your hiring policy was for those that have medical suspensions on their driver's license". That way you have an answer anonymously whether you would be considered or not. If they would consider you, then don't even mention it.
However, another thing to consider - driving is NOT mandantory for all services ! They try to make it be, but it really isn't. If they operate a BLS truck or multiple, ask for that to be a reasonable accomodation to not drive (still falls under the auspices of disability and accomodation). Would require you to disclose more info than you care to, but if you would have been hired otherwise then something to consider. Many services won't fire those with a DUI and they are kept from driving an emergency vehicle for a year in this state, and I've chosen to not drive an emergency vehicle (for personal reasons) and that's been discussed at length with each employer and I have yet to have difficulty as either a basic or medic getting a job. Something to think about.