Have in the past & recently taken both my kids at different times
never had a prob even a few mth back took daughter to Ireland with me & boss paid for extra passenger
Dad sometimes takes me if he’s working on a saturday or sunday depending where he’s going. When I went upto Scotland, Granddad always took me with him and when I was old enough they made sure I did my fair share of grafting 
As been said, some companies allow passengers, some don’t. As been said it’s better too ask first before you take a passenger/
Cheers
Jonny 
In the late 1970’s when I used to drive an old A series ERF artic I took the 2 kids for a ride to Leeds on the way home along the A1 I flogged the wheels off the old Erf and got her wound up to 50mph " Flat Out " when a motorcycle cop pulled me for exceeding 40mph and gave me a warning . I said to the kids don’t tell your mum , We sat at the tea table and she asked them if they had had a good day yes they said especially when dad got chased by the police . Kids !!!