Your adult daughter has auto insurance and is gifting you her car you have a car and insurance She lives with you Do you have to put her on your insurance policy?

As long as she has her own policy on her own, it would not affect your insurance in the sense of premium or the need to have her insured on your policy. However, most auto insurance company want to have her listed as a driver in the household since she lives with you. The policy actually follow the vehicle and not the driver. If she was to drive this vehicle and get into an accident, your policy would be the primary and her policy would be secondary.