Well.. I don't know about VA.. but TX policy states:
Any person over the age of 18, who is driving your vehicle at the time of any accident, with your permission, is covered as fully as you are. This is true, with the provision that said person is not living at the same physical street address as you.
i.e. My father could let me drive as long as I didn't live in the same house, and I was covered, even though I wasn't on the policy..
HTH
Ray