Companion leading a disturbance from vehicle (7)
I believe the answer is:
chariot
'vehicle' is the definition.
(chariot is a kind of vehicle)
'companion leading a disturbance' is the wordplay.
'companion' becomes 'cha' (I've seen this in other clues).
'leading' is a charade indicator (letters next to each other).
'a disturbance' becomes 'riot' (I've seen this before).
'cha'+'riot'='CHARIOT'
'from' is the link.
(Other definitions for chariot that I've seen before include "Haricot (anag)" , "Ancient horse-drawn war vehicle" , "'Two-wheeled, horse-drawn vehicle (7)'" , "Two-wheeled carriage of ancient times, as used by Ben Hur" , "ride in carriage" .)