this is my first time test driving a car and I was wondering if there's anything required to be signed

 

Most places will ask for your name/address/#, and make a copy of your DL.

Some places toss you the key and tell you to come back in a reasonable amount of time. Others will come along for the ride.

If you crash while test driving, they have insurance that will cover.

 

Generally a copy of your drivers license and current insurance if you own a car.