GJB22....
I have seen much written especially, fanciful stuff on internet papers that states they used this or that often, vehicles that were not even there at the time. I have read in books he used Hanomags kubels schwims and konigstigers
I did meet and speak with some veterans of this unit and they told me they he and other officers used a variety of vehicles I suppose, to meet the situation at the time so, maybe all the reports were kind of true. I do know as the battle progressed he was supposed to be everywhere checking the situation and how his troops were doing issuing orders etc.
When I return home I have a few new releases on Pieper which I can give you details of that are really very good accounts of how he acted in battle situations etc.
I would venture that he did not have a specific command car similar to panzer meyer and Gudarian who liked their hanomags
Hope it helps a little?
Mitch