My experience
Both times that I went through my insurance for damage to a rental car I had out, my insurance paid and never asked to see my contract. On many occasions I have been told (back when I was renting from Enterprise and the agents were trying to scare me into insurance) that I am covered on any car I drive, no matter how much it cost or how I got it (stole it...). How much my premiums would go up is another question. In the meantime they have never raised my premiums, actually all the damage to my cars was someone else's fault.