DDs friend just got her license and we allowed DD to drive with her. When the friend still had her permit DD drove with her (and a parent) and felt she was a good driver. I also know the parents and do not think they would let their daughter get her license unless she was ready.

Your situation may be different. Is the kid normally responsible?

I allow it, with kids I know who seem responsible, within a limited driving radius of my house. (Like to and from school, the local starbucks, Target, etc.) I do not allow joyriding and we stick firmly to the 1 passenger rule (VA) whether my child is the driver or the passenger.