When I returned my rental to enterprise they didn't ask to see my drivers license and as long as your not changing the payment method there were no questions. However it is always best to air on the side of caution and return it yourself.
Only listed drivers on the contract are allowed to drive rented vehicle
Technically if they are listed on the contract. If something should happen and they arent, it could become a problem. That's assuming they have a current legal license to drive.
It would be risky from a contract responsibility perspective unless they were noted as an additional driver.
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