Insurance company guidelines differ so you will need to contact your insurance provider's agent to find out if they will require you to keep your son, that is away at the military academy for most of the year, on your auto insurance policy or not. Likely they will treat this situation the same as if your son had gone away to college or university for the year.
Since he is only going to be at home for 4 weeks out of 52 weeks in a year your insurance company may allow you to take him off as a driver for the present time period. If they do then they will probably require you to inform them when he does come in for visits. While he is in using the car they may require you to add or re-instate him as a driver.
Or since your son is still using your house as his address of record, they may still consider him to be a household member that needs to be on the policy, especially in order to be covered and drive a vehicle when he does come home to visit. Your insurance company will be able to tell you for certain what is required of you according to the underwriting guidelines and the terms of your policy once you contact them.
If you want to see if there are any state insurance regulations concerning you and your son's auto insurance situation contact the Pennsylvania Insurance Department.