Another partially matching answer (included, as much as anything, for the sake of other people searching for similar works), is Galtar and the Golden Lance. Its sole non-matching point is a lack of vehicles.
The series is about the mythical sword-and-sorcery adventures of three companions: Galtar, Princess Goleeta, and her younger mind controlling brother Zorn. Galtar, with the help of his Golden Lance, is fighting with Tormack, the tyrannical usurper of the kingdom of Bandisar, who is conquering their entire world. Tormack is responsible for the death of both Galtar's parents and assassinating the rest of Goleeta and Zorn's family.
Tormack, among others like him, covets the power of Galtar's supernatural weapon, the Golden Lance, to combine it with the stolen ancient and indestructible Sacred Shield, which rightfully belongs to Goleeta and Zorn. For whoever holds both becomes invincible—such a wielder cannot be brought down in any form of combat. The Golden Lance itself normally exists as a rather ordinary-looking short staff. However, whenever Galtar holds it above his head with both hands, it extends two mystical blades from itself, one on each side, and can then be divided into two swords for dueling. The enchantment that gives the Golden Lance its power also causes any unworthy wielder to bring about an uncontrolled discharge of magical energy from its "hilt," which is called "The Fury Of The Golden Lance." (This is actually shown in at least one of the episodes.)
Galtar's "lance" looks like a flaming sword. Tormack wears a dark cloak and is often accompanied by Rava, his niece (before she joins the good guys), and is very broad-shouldered.