Yes, but the process in order to get weapons is an utter ball-ache. (Well from the specific earlier versions I've played)
To loot gun from car:
Check gear: Gun is there OK
Close gear
Get in driver seat
Swap to passenger
Get out
Check gear
Loot gun
I believe one of the slightly later versions got rid of the part where you swap to passenger but that's about it AFAIK. Perhaps there is a more of a refined version out by now.