I would add more relationships there.

Task belongsToMany vehicles. Vehicle belongsToMany tasks.

$tasks = Task::with('vehicles.configuration')->paginate();
forech ($tasks as $task) {
    for($task->vehicles as $vehicle) {
        // Do something with the data
        $task->start ...
        $task->end ...
        $vehicle->id ...
        $vehicle->configuration->configuration ...
    }
}

In my database have 10 different vehicles used in randomly for each tasks. In task A could have vehicles 1 and 2; in task B could have vehicles 3 and 6; in task C could have vehicles 1, 5, 6, 8 and 10.

So using VehicleTasks table I can know which vehicles are been used for a single task and via Vehicle and Configuration tables know vehicle identification and configuration.

In VehicleTasks table I record also km_start and km_end to know how many kilometers run for that task with that vehicle.

I hope I haven't confused you. :-)

$vehicleTasks = VehicleTasks::with('task','vehicle.configuration')->get();

$vehicleTasks->transform(function($vehicleTask) {
    return [
        'start' => $vehicleTask->task->start,
        'end' => $vehicleTask->task->end,
        'vehicle_identification' => $vehicleTask->vehicle->identification,
        'vehicle_configuration' => $vehicleTask->configuration->configuration,
    ];
});