If my adult daughter lives in my home and doesn't own a car but drives my car occasionally, does she have to be listed on my insurance as a driver?

Check the law in your state AND your insurance policy.  Here is the thing.  Many states - like New York - have a permissive use doctrine in place meaning that if you give some one who is not a regular driver on the vehicle permission to drive it and they get in to an accident your insurance company has to cove them.  But, if your policy requires that you list members of the household that have a driver's license on the policy then you must list her, unless there is qualifying language that says something like "who regularly drive the vehicle."  Otherwise it is a breach of the insurance contract and it could result in a disclaimer of coverage should she get in to an accident.  Good luck.