It probably depends on how you frame the question.
If they interpret your question as that you are paying a house-sitting company to take care of your home for a while, I would definitely not expect them to say yes. They would not like to be liable for damages caused by that company.
So yes, one could ask about friends staying at your place while you are on vacation (it should not sound like AirBnb). Or not ask at all. Just check that you have your own insurance, maybe study the fine print, and hope that nothing will happen. (My present HO asked for proof that I had liability insurance. First time this happened, but I completely understand and I even think it was a good idea.)