You're right about the ultimate legal situation, but there's two problems I see with dropping insurance on a paid off home. The first is that the companies, seemingly operating in lock step, will heavily penalize you if you change your mind and want to go back to insuring. The second is the liability component, whereby simply owning a piece of real estate means you're a juicy target to be found jointly liable for a whole host of things that most people would consider unreasonable - eg someone trespasses, injures themselves, and then sues you.
I've long said that one major threat that "regular people" would suffer from the consumer surveillance industry was going to be insurance (another being fine-grained price discrimination). It looks like both are really starting to come into swing. The best time for US privacy legislation (including something analogous to the GDPR) was 20 years ago, the second best time is now.