I was always taught that to use two attack teams, one approaching from the front at a 45 degree angle to the vehicle, and one approaching from the rear, also at a 45 degree angle.
Depending on location, the team at the rear cooled the back side of the vehicle, including under the vehicle to keep the drive shaft from heating up. The team the front came in and attacked the fire. Both teams are located out of the hazard zone, where bumpers, shocks, struts, etc can launch. Start with the "reach of stream" and work your way in as the fire is knocked down.
All will depend on accessibilty. Depending on the location of the vehicle, it may not be approachable from the 45 degree angles, so the attack formations would have to be adapted accordingly, ensuring fire fighter safety. I've seen too many videos, where fire fighters were in harms way by being right in front of the vehicle, or right behind the vehicle, while it was burning.
If the fire is under the hood, and contained within, approach from the side and use a halligan or pry bar to gain/make an access hole, or if available, a piercing nozzle works well too.
Stay safe !!