I voted for the 2-3 weeks... though I think it may have been a little before 2 weeks?
I started off just with short trips (to the supermarket etc.) when Neil was home with Gab. I'd go out just by myself (which felt weird in itself!).
I was pretty nordy and didn't call my insurance company to find out whether I was covered or not. I wouldn't, however, have driven if I felt in any way like I couldn't handle the car or be able to brake. I also drive an automatic with power steering so I imagine that helps