Wouldn't disabling antennae on your car void the insurance? I would have assumed that was a basic thing insurance policies would have stipulated already over a decade ago.
for tesla insurance, yes. You have to agree for your driving to be monitored to use their insurance. They monitor and grade you based on a number of driving behaviors, then set your premium based on your score. You score determines the next month's premium. Note that the time you drive using tesla full-self-driving enabled, your score is 100% (even with the sometimes scary 12.x version)
You must agree to monitoring, otherwise they won't give you insurance.