hmmm.
I was thinking about Morningstar...
Crusader would be too politicaly incorrect, the same goes with Templar, buzt maybe Paladin...still this sounds more like a KE rank than a vehicle
You may use the name Veillantif (or Vegliantin, idn which version of the name you would prefere as english speaking), the trully archetyp of chivalry horse, that belonged to Count Roland, knight at the court of Charlemagne...
For APC ...Sleipni comes to my mind, Odins eight legged horse..
Percheron is a horse breed possibly originating from medieval war-horses
maybe there is some possibility to find some references even for names of some famopus war-charriots, but that goes beyond my knowledge