Can I be taught to drive in a taxi in Manhattan?

Ok so I'm 18, I live in Manhattan, and I have a regular class D learners permit. My dad has a CDL class B licence and a taxi licence. He owns a black Honda CRV but has taxi plates on the car in order to drive for Uber. I know that if I had my full licence that I could not drive the car on my own without a taxi licence. My question is am I legally allowed to drive the car if my dad with the taxi licence was in the car with me? Just in case no this is not to pick up customers and get around the taxi and limousine commission but for regular use like going to the store or on a trip upstate.

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