I can't figure out how to use the getParcelable, it says it's deprecated
As of API level 33, the one-argument getParcelable (String key) is deprecated. Starting from API level 33, you need to include the class as a second argument using the two-argument version getParcelable (String key, Class<T> clazz)
In Kotlin, the KClass formula is used to represent a class, but to get a Java Class instance corresponding to a given KClass instance, extend that with ".java" suffix (documentation reference). This would be in your model "VehiclesModel::class.java".
So, to fix the deprecation after API level 33:
override fun onRestoreInstanceState(savedInstanceState: Bundle) {
    super.onRestoreInstanceState(savedInstanceState)
    if (Build.VERSION.SDK_INT < Build.VERSION_CODES.TIRAMISU) // API 33
        @Suppress("DEPRECATION")
        savedInstanceState.getParcelable<VehiclesModel>(KEY)
    else
        savedInstanceState.getParcelable(KEY, VehiclesModel::class.java)
}
Side notes:
- The condition 
if(savedInstanceState != null) has been removed because the savedInstanceState argument is not nullable. 
- The 
VehiclesModel model class is typically a data class, and that expects a constructor with one argument at least, check here. So, you need to fix that in val VehiclesParcelable = VehiclesModel() statement. 
- ViewModel would be a typical tool instead of 
onSaveInstaceState() if you just want to survive configuration changes. 
Update for the bountied part
how would you solve the bountied part? I'm using Java so I'm using if (savedInstanceState != null) instead of a method onRestoreInstanceState.
Even if you're using Java, the the savedInstanceState is annotated with @NonNull; so it shouldn't be null; instead you'd worry if the getParcelable() returned null in case the key was wrong.
The code in java, you'd use Bitmap.class instead of the OP VehiclesModel:
String KEY = "stateOfImageView";
@Override
protected void onSaveInstanceState(@NonNull Bundle savedInstanceState) {
    super.onSaveInstanceState(savedInstanceState);
    BitmapDrawable drawable = (BitmapDrawable) imageView.getDrawable();
    Bitmap bitmap = drawable.getBitmap();
    savedInstanceState.putParcelable(KEY, bitmap);
}
@Override
protected void onRestoreInstanceState(@NonNull Bundle savedInstanceState) {
    super.onRestoreInstanceState(savedInstanceState);
    Bitmap bitmap;
    if (Build.VERSION.SDK_INT < Build.VERSION_CODES.TIRAMISU) // API 33
        bitmap = savedInstanceState.getParcelable(KEY);
    else
        bitmap = savedInstanceState.getParcelable(KEY, Bitmap.class);
    ...
}