Ultimately, it's up to your insurance company as to whether your daughter has to be listed on your policy as a driver or not. With that being said, some insurance companies will allow you to remove your daughter from your policy with proof she does not live in your household or proof she has her own policy. That being said, most companies allow coverage for "occasional" drivers provided that the "occasional" driver does not live your household, and your vehicles are parked at your residence at the end of the day. You may want your daughter to look into a "non-owner" policy that will help cover her for vehicles not provided to her on a regular or frequent basis.

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