What's so complicated? There's at least one kid driving who is not on the policy. This is fairly common practice - the insurance brokers tell you to do this. You can argue all you want whether it's wrong, though this may or may not be the right place for that.
I started with Geico, switched to State Farm when I bought my house (better discounts when adding home and umbrella), currently with Allstate. I've been very happy with them so far. There's a frum agent in KGH, with an office right on Main St (should that ever be needed). The person I deal with in their office is very knowledgeable and helpful, always responds to emails fairly quickly, etc.
Allstate
$953.56 for 6 months
'16 Kia Sedona
Queens
2 drivers
$250/500k BI - $100k PD
Collision and comprehensive (full glass) $1k deductibles
$30/day rental reimbursement