The Carjacking (or Highjacker in Halo 3) Medal is awarded for stealing an occupied vehicle from an opponent. It is available in all Multiplayer gametypes where a vehicle is available and has a Bungie difficulty rating of 2 (out of 10). It is represented by a cross with a U-turn sign on it. After you steal an occupied vehicle, a message appears on your screen. In Halo 2, that message reads: "You boarded an enemy vehicle", while in Halo 3, it reads: "You highjacked (player)".
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