21M – Coverage lapse from exclusively using Rental Cars

Was on my parents policy from 16 to 17, they took me off when I went to out-of-state college since I didn't have a car there.

At 19 I was an intern for a massive company who had negotiated with Avis to waive 21 age restrictions and 18-25 young driver fees. As part of my internship, company paid got me an apartment and rented me a car for three months. This happened again when I was 20 and 21.

Because their negotiated rate with Avis was so good, I simply used that to rent cars throughout the rest of the year as needed, relying on the rental car company's liability self-insurance and my Amex CDW. (For the active business rentals, the company had insurance for accidents)

Finally moved back in with my parents, and now it's time for me to get back on the insurance plan. Problem is that I've been "uninsured" for like 4 years (since I didn't own a car or live with anyone who did), I'm a 21M, and on top of it my dad just got a Q5. How fucked am I here? Is there any way to not be actuarially screwed? Reality is that I drive insured cars all the time and have never had an accident or moving violation. Just feel like this shouldn't be counting against me for not paying for me to be on insurance for cars that I lived 900 miles away from.