Usually they can drive the long-term rented car, provided they have a valid driving license:
All first-degree family members or cohabitants present in the Family Status document of the contract signatory.
The owners, the administrator, the partners and the employees of the contracting company.
All individuals authorized in writing at the time of signing the lease agreement.
However, each long-term rental company could give different and/or additional information to what is reported above.