It depends. If you are going to be driving a car in most states, the state requires you to have insurance. Your friend's insurance could cover you but if you hurt somebody in an accident they will come after both you and your friend, so its important to have your own coverage.
You don't want to lose all your money and all your possessions to a person you hurt just because you don't have insurance.
If you don't own a car (like if your employer provides you a leased car and its the only car you drive), you can still buy insurance called a 'non-owners' policy. This would be good if you are going to be driving your friend's car a lot.
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No,, All 50 states require that we carry minimum limits of auto liability anytime we are operating a motor vehicle on public roads