Not if that vehicle is vulnerable to spears, like a horse, or a Prius.

Excellent suggestion actually, a solution much newer than the retirement of the Testudo.

In that category, also bombing from an aircraft, heavy munitions, armor piercing rounds, chemical, nuclear and biological warfare, pit traps, land mines, incendiary rounds, rod of god, sonic weapons, disorienting weapons, etc.

I believe a decent guerilla warfare tactic would be explosives/area of effect/molotovs/thermite by drone.