It generally depends of the status of the installation at the time of your visit. They have different "Security" status's, and depending on the time and mandated status, everyone in the vehicle may be asked to show valid ID. Most times if the driver has DoD ID, and the passengers have "Real ID" compatible docs you should be fine. Just remember, without DoD ID, they will not be able to enter some buildings or facilities on base. If they have a visitors pass, they are granted more access because a background check is usually done prior to issuance of the visitors pass.
Always best to check with the particular installation prior to visiting. USMA, USNA, CGA, and USMMA normally are flexible because of students and their parents/relatives, other installations not so much.