You took away his source of comfort and self-soothing and it doesn't sound like he has found an alternate one - you can't really cuddle with a car. Your job is to "teach" him how to fall asleep by himself when he knows his two favorite soft and cuddlies are in another room and his binkie is gone away.
Look at it from his perspective. Teach him the skill of self-soothing so that he can master this himself.
Get him a blanket or bear (or a stuffed car). I did it with a girl, but I think the process is the same. I taught my daughter to "soothe" her bear back to sleep when she woke up. I told her that the minute she woke up her bear woke up too and it was her job to get her bear back to sleep which meant she had to go to sleep. I showed her how to rub the bear's back and give the bear soft kisses. I told her she had to be really really still or it would keep the bear awake. I also told her that parents keep the bear awake and she needed to be a big girl and get the bear to sleep without me.
It took 2 or 3 nights of me coaching her on her new self-soothing techniques until she did it by herself and didn't wake up anymore. If your son wakes up and comes to get you or cries for you - simply say 'did you pat your bears back?' keep repeating that (calmly) until he gets the idea that there isn't an alternative.
I also agree that a structured bedtime routine is KEY at this age.
PS - you go through this again around 7 when the bear/blanket/toy is outgrown. Then you can be more direct and talk about her own breathing patterns and thinking calm good thoughts etc to get herself back to sleep.