You can check with a Minnesota insurance carrier however it is doubtful that you will be able to get Minnesota insurance on your vehicle if you are going to be driving and keeping it in California for an extended period of time.
The California Department of Motor Vehicles states that if you take a job here or become a resident, you must get a California driver license within 10 days. So if you are working on the farm where your yurt is located or have elsewhere started a job then you will need to get a CA driver's license.
The CA DMV also states that vehicles registered in another state or foreign country must be registered in California within 20 days after you become a resident or get a job. So again if you are working in California, or fit their description of a resident, then your vehicle's registration and plates will need to be changed over to California from Minnesota.
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If you are required to change over your license and registration to California then you will definitely need to change your insurance over to CA insurance as well. The CA DMV notes that your auto insurance needs to meet the minimum liability limits required by the state of CA and be issued by a company licensed to do business in California when registering a car in this state.
[Let CarInsurance.com help you find affordable auto insurance now.] If the yurt does not have an address to use then the farm on which it is situated on will likely need to be used in order to have a location for a California auto insurance provider to rate you. You may need to get a PO Box or some form of residency documentation. To get a quote for CA auto insurance click here. | 
