A car is not a perfect faraday cage. Half of them are made of cheap plastic. But neither a plastic body nor rubber tires may have the insulating properties to withstand 100 kV. I've seen photos of melted tires from powerline contacts.
In a perfect faraday cage, you can touch the inside of the metal cage if standing within , and be just fine at any voltage. In a car, whether it is grounded or not, I would refrain from touching metal, even if it may not cause harm. Be safe!
Regarding lightning , many have been killed , either by direct hit or more often, from the voltage gradient from a nearby strike to ground. That is why if stuck in the open during a lightning storm and shelter ( or a faraday cage ) is not nearby, you must crouch low and click heels together so that ground currents pass thru your feet and not your heart.