Can a daughter be insured under her dad's policy and drive her mother's car that lives in a different household?

Insurance is attached to the car, not just the person who pays the premiums. So, dad's insurance covers him to drive his Lexis, and mom's insurance covers her to drive her SUV. If mom borrows dad's car, she is covered under his AUTO policy--it is the auto that carries the coverage, not just the driver of the auto. If dad borrows a friend's truck, he is covered under his friend's policy. Of course, if a driver of a borrowed vehicle has an accident, the Insurance Company can try to go after the actual driver or their insurance carrier after they cover their own insured customer. But it is still a policy carried on a vehicle under the insured's name. So, your daughter needs to be on the policy for the vehicle you have insured, if she'll be driving it. OR, your vehicleneeds to be on dad's policy, and you and she would be named as drivers dad approves to 'borrow' the vehicle.

Make it simple. Just put her on your policy. Ask dad to contribute payment toward the premium to have her on your policy. BUT don't rely on someone else's Word to pay in part or in full-- if it isn't paid, you will suffer the consequences.