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Can you drive with a friend in the car, and a parent, if you have your temps in Wisconsin?

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I've had my temps since last june,, and yes i know i should probably get on getting my liscence, lol anywho, i took two drivers ed classes and BOTH teachers told me you can drive with ONE friend in the car with a parent as well, with your temps..however my parents insist on teling me im wrong and it's not allowed..they dont believe me when i tell them that, but also have no proof i cant. so i was wondering which is correct here?