Joel,
Assuming that there is a "daily driver" for each licensed driver in your household, you can insure your car with a specialty company like Hagerty quite reasonably. Based on your statement that you will be driving less than 3,000 miles per year and you can live with the restrictions, you can insure for two to four hundred per annum, depending on your policy limits and coverage elections. Just make sure, regardless of who writes the coverage, that you get an agreed value policy so that you will not get screwed if you have a theft or serious property damange accident.
John H.
Hagerty customer