Append custom parameter to taxonomy/term URI

You can try this:

function my_car_rewrite_rules( $rules ) {
    $newrules = array();

    // add a rule for this kind of url:
    // http://myhost.com/cars/ferrari/used/123
    // => http://myhost.com/index.php?post_type=cars&ferrari=used&p=123 

    $newrules['^cars/([^/]+)/([^/]+)/([^/]+)$'] = 'index.php?post_type=cars&$matches[1]=$matches[2]&p=$matches[3]';
    return $newrules + $rules;
}
add_filter('rewrite_rules_array','my_car_rewrite_rules');

and remember to “save the permalinks” when testing.

I added /cars/ so this rewrite will not overwrite your other pages.

You can also try this more restrict rule:

$newrules['^cars/([a-z]+)/([a-z]+)/([0-9]+)$'] = 'index.php?post_type=cars&$matches[1]=$matches[2]&p=$matches[3]';

or even

$newrules['^cars/([ferrari|lamborghini]+)/([used|new]+)/([0-9]+)$'] = 'index.php?post_type=cars&$matches[1]=$matches[2]&p=$matches[3]';

To remove the CPT from URI (need to do it for each taxonomy)

$newrules['^ferrari/([^/]+)/([^/]+)$'] = 'index.php?post_type=cars&$ferrari=$matches[1]&p=$matches[2]';

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