Using someone elses car for the limited company business

Hello, I am a director of a UK limited company, and I would like to seek clarification regarding mileage allowance claims. Is it necessary to be the legal owner of the car that is used for business purposes? Specifically, can I use a car belonging to someone else, such as a family member or a private individual, for business travel if there is a loan agreement or other written agreement in place. I would be hold responsible for any expenses related to that car. Could you please confirm whether this is accurate, and if there are any specific requirements or documentation that I need to maintain to ensure compliance with HMRC regulations related to claiming mileage? Thank you for your assistance.

Hi awb28,
Please see:
EIM31255 - Employees using own vehicles for work: qualifying and non-qualifying vehicles: company vehicle
Regarding this specifically the final 2 paragraphs.
Thank you.