Insurance companies want you to list all of the household members who will be driving your vehicles.
Insurance companies also want you to list as drivers on your policy those individuals who do not live with you but will be driving your vehicles on any kind of regular or frequent basis. If they do not reside in your household and they occasionally drive your vehicles, you may not have to add them to your insurance policy. Ultimately, you will need to contact your insurance company or agent to determine their procedure to meet your insurance needs.
Because each company and state regulation is different you will need to contact your agent to determine if it is covered. Typically, damage coverages follow the car and not the driver so you would have coverage.
Follow this link to learn the regulations from the New Jersey Department of Banking and Insurance.