I wouldn't know about insurance that covers covid related cancellations, I do know if you are vaccinated and follow CDC protocols you should not have any issues catching or spreading virus. My DW and all 3 DDs are nurses and had no issues dealing with the hundreds of covid patients they cared for thus far. Our state for the most part closed down, but that didn't stop us from going to neighboring states of AZ and Texas on over a dozen occasions to continue to enjoy the RVing lifestyle.
The way I see it is if truckers transporting the goods we rely on, underpaid Walmart/grocery/fuel station/fast food employees, and of course health field workers have to go to work to keep this great country going, I will venture out as well following CDC protocols to keep us safe. Traveled over 1K miles last summer when pandemic was roaring through most states to purchase our current RV, thankfully TX state parks were open and we were able to enjoy our new rig on our way back home.