Your steering behaviors could be used the same way I used mine here. If I understand your code correctly your Vehicle class uses forces to move the node around.
My Guide classes (Guide2D and Guide3D) are very similar but use Panda’s HPR system directly to steer the node while the node advances in its Y-axis.
In practice they probably look exactly the same. Your code is probably closer to actual physics where mine tries to just treat the node as a steering vehicle .
I use just the standard “Seek” and “Flee” behavior because as far as the code is written it doesn’t matter if the target is static or moving. The Guide2D in the program is a little stripped down- In my space game there is also a “Dodge” routine that tries to fly at 90 degrees to the pursuer to avoid being hit by blaster fire.