Said differently, the minor would be picking up the endorser's obligation and giving the endorser's warranties. The question is, if push came to shove, would you have a way to enforce them? Minority might not be the issue, but a willingness to sue a kid might be.
Depending on the circumstances, there is a dollar amount where I would require the adult's signature.
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In this world you must be oh so smart or oh so pleasant. Well, for years I was smart. I recommend pleasant.