Can I copy the TA of a figure that is "inside" a vehicle?

No because the figure is off the map.

From the PG:
No. The character is removed from the map, so their game effects are ignored. If their TA is ignored, it can't be copied by a wildcard.

You CAN copy it before they jump in though. So watch your timing!

Sure, you could... but you'd lose it anyway as soon as they hope in. RB, page 19:

A wild card retains its most recently used team ability until it is given a free action to use another team ability (or choose no team ability) or until after the resolution of an action during which all friendly characters whose team ability the wild card is using are defeated or removed from the battlefield. If a copied team ability includes a “once per turn” or “once per game” clause, a wild card follows that clause each time it uses the team ability as if it were using it consistently the entire game. A wild card activating Pulse Wave can continue to use a copied team ability even if the team abilities of the friendly characters are being ignored.

D'oh! 2 for 2 today.... Thanks Normalview!