If your daughter does not live with you but drives your vehicles then she is still required to be listed as a driver on your policy. The policy states that all household members and regular drivers must be listed. A regular driver is anyone who drives your vehicles sometimes. This does not mean you can add a car titled to her on your policy even if she is listed as a driver but she is still required to be listed as a driver on your policy. If she is an adult driver it probably won't cost you anything anyway.
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