It will depend upon state laws and your roommate's insurance guidelines what the consequences may be if you are stopped or in an accident in your roommate's car without insurance in your name. Some states only require the vehicle to be insured by the owner while other states want every licensed driver on road to have insurance on them.
The consequences from the insurance company will depend upon the terms of your roommate's insurance policy and the underwriting rules of the company as well. If you are in an accident in the vehicle you may not be covered by her insurance since she has not added you as a driver yet. Or the damages may be covered but the insurance company may have issues with your roommate because of her not informing them of you being a household member and adding you to the policy.
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To make sure you are properly covered by insurance to drive the vehicle your roommate should inform her insurance company of you being a licensed household member that occasionally drives the car. The insurance company will then determine if you need to be added to the policy to be covered and if so what the rate would be for that.
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