There are no age restrictions or requirements for car insurance policies that distinguish an age for removing from a policy. If your parents or any other adult lived in the house with you and (ever) had a license they would need to be considered for rating on your policy.

Typically, you must include all licensed drivers in a househould on your policy or exclude them so they aren't rated - if allowed.

Your daughter will need to stay included on the policy until she is no longer considered a "risk" to the insurance company. That will be when she moves out, gets her own policy and/or car, or when she is excluded from your policy.

Excluded drivers are not covered on the policy.