How do I find out who is paying my insurance if I have not card, membership or knowledge of who is paying it?

If you have no card, proof of insurance card, what makes you believe that you do have insurance?

Because when I get my license/tag renewal form it says insurance is up to date on my car. It does every year and the DMV says it just records what is on file for my car.

What state or country are you living?

It most likely means that there well could be another car using your same VIN perhaps one of them is stolen using a stolen Title.

But you can ask for the company from the DMV.
If you have no card, if you are not paying for it, most likely you don't and are breaking the law