Wageni na gari wa-(?)/ li-(?)/ lifika jana?
How to the deal with multiple subjects from different noun classes?
you can't have more than one subject affix in the same word. It is always a subject prefix and an object infix, or just a subject prefix.
To say 'the guests and the car arrived yesterday', I don't know why, but I can't remember an instance where I had this dilemma. If the goal is not to make it sound like they arrived together, I'd say 'Gari lilifika jana na wageni pia' (or vice versa)