I got the same situation
Green P-plates with the car but its all sweet
got pulled over heaps of times and they never said anything, closest thing was they asked me if it had turbo
i dont think they even know that its probhibited..
and with the insurance your car is insured...
so no matter whos driving it, doesnt matter if your not meant to drive it, its your car thats insured...
you can make a claim if something happens!
so you got nothing to worry about