A vehicle sitting in the driveway does NOT need to be insured in my state hence it is NOT ILLEGAL for me. I'd be surprised if vehicles in the driveway need to be insured in any state. Perhaps someone could cite one of those statutes?
If that is the case somewhere, I feel sorry for you. Perhaps put it in the garage, or put a car cover on it.
Some laws are stupid, not enforced, and yes deserve to be broken.
Old EPA 23/33/27
New EPA 21/30/24
Just a note about Massachusetts, since every state is different...
A few years ago, I had an uninsured / unregistered / etc. car sitting in my garage. Due to unfortunate circumstances, the car broke loose and rolled down a hill into a neighbor's garage.
Of course my car insurance wasn't gonna cover it, and if I wanted my homeowners to cover it I would have had to gotten a special addition on to the policy. I had to pay for ALL of the damage out of my own pocket, and it wasn't cheap.
Before then, I figured that a parked car wouldn't have a liability, but I learned the hard way that it was not covered. Now I keep my cars insured, even when I'm not driving them.