I carry standard liability/hull insurance ($1M) policy.
I have found that giving rides in my RV is a vastly rewarding experience for me if the passenger has the right frame of mind. On the other hand, giving rides has also been annoying when the passenger was simply taking advantage of a freebie.
I give rides to lots of people. After giving over seventy rides in the past two years, I've come up with a loosely kept personal set of guidelines about flights. Kids younger than about 12 years old (with parental permission) will almost always get an invite if they appear interested and polite. Teenagers get an invitation if they are polite and ask intelligent questions that make me think they are interested in more than just an expensive roller coaster ride. Young adults get an invitation if they have their pants pulled up, look respectable/respectful, and appear to be genuinely interested in pursuing flying lessons. Mid-age people get an invitation if they are specifically interested in flying an RV, or if they are already a pilot and need some persuasion to come over to the dark side! And the older generation gets an invitation if they have a good war story to tell about their service.
Personality plays into my decisions as well. There's nothing worse than taking a "stick in the mud" up for a flight. After talking them through the entire flight, just to have them walk away without even a "Thanks!" can be very annoying.
After giving too many rides to people who just wanted a cheap roller coaster ride (cheap for them, not so cheap for me), I've limited the rides I give to people, avoiding those who can't ask an intelligent question, or can't express a valid interest in aviation.
If they are <18 years old, I want their parents to personally give me permission to take their child.