Insurance companies vary on how they account for household drivers. Some insurance companies (especially low cost ones) will insist that all persons living in the residence are potential drivers. This often happens to young folks who are renting with roommates - the insurance requires each roommate to be named on the insurance because "they have access to the keys".
With State Farm, they don't ask you who lives in the household and you only identify the person(s) authorized to drive that vehicle. If you have multiple drivers in the household, you can exclude any on the insurance for a specific vehicle.
As Old Biscuit said, insure your daughter as primary driver for the oldest vehicle. For any other vehicle she may drive, include her as an authorized driver. For the RV, exclude her.