Legal Question in Criminal Law in Texas

If your daughter gave him permission to drive the car, and you tell the police that she did, then they would not arrest him for driving it. She has "apparent authority" to give permission. (If she possesses the car, then it appears she has the authority to allow hime to drive it. Most people do not know in whose name any given car is titled.)

If you do not want him to drive it and your daughter continues to let him, take it away from her. She is the one responsible to listen to your rules when it comes to loans of property to her. (If you do not want her dating him, take the car away from her. Let her make the choice - a felon or your continued support.)

If your daughter loans him the car to drive to the store with an expectation that he will be gone 15 minutes (or something such temporary loan) and he is gone for 6 hours, then he has essentially stolen the vehicle because he did NOT have permission to take the vehicle for that period of time / purpose. You and / or your daughter can report it stolen. (Just because the owner / possessor gives someone permission to use an item for a time period does not mean they intend to give it away for good or an extended period of time.)