Your insurance company is only concerned about 2 specific things (and don't take an agent's word on it talk to a claims adjuster):
1) Does the vehicle meet the definition of an "insured vehicle." This means does it qualify for the policy and/or is it the vehicle listed on the policy. If you have a 5ton on a "personal auto policy" it does not qualify under the definitions of an "auto" on most policies because it will be over 10k GVW for which there is a specific exclusion. It doesn't matter if your agent sold you the policy and printed you a card for it or not. It doesn't matter if you "explained" what the vehicle is or not. You have a responsibility to read the policy, definitions, and exclusions and determine if your vehicle qualifies.
2) Was the vehicle, at the time of the loss, driven by an insured driver (you or anyone named on the policy) or by a qualified "unlisted driver," meaning someone you gave permission to and who does not a) reside in your household and b) have frequent use of the vehicle. Under most policies anyone residing in you house who is old enough to drive has to be specifically added or EXCLUDED from the policy for coverage to exist. Don't listen to those who will tell you that anyone can drive your vehicle if you have insurance and gave them permission. That's a state/criminal statute and we're talking contract law. The insurance company CAN deny a claim (void your policy), under the contract you signed with them, if your 17 year old is driving one of your vehicles and is not on the policy.
I was an auto insurance claim manager for 10 years and I've had these arguements with several attorneys for claims we denied (won all of them too when presented in court - if they were dumb enough to take it that far).
Now there are other exclusions (read your policy) that could get the claim denied such as were you participating in a sanctioned "racing" event, was the vehicle being used in the act or commision of a felony, etc. Each insurance company has a list under the "Exclusions" section of your policy.
The 150 mile ag restriction the state has shouldn't be an issue. I won't say "isn't" an issue because different insurance companies have different restrictions based on the policy you purchased. Again, no matter how boring it can be, READ YOUR POLICY.