Sorry, you won’t be able to get a single vehicle location using the APIs. For that, you are right in your initial investigations in that you need to use the GTFS-realtime data. However you will need to get all the data and then parse / filter that on your own infrastructure.
Not sure what you are trying to do exactly, but I suppose you can call the https://…/gtfs/vehiclepos URL initially to get all the vehicles, and loop through all the vehicle to find the one you want. It will give you the vehicle position. I haven’t worked with the Trip Planner so don’t know how or if you need to match it with the Trip Planner API.
To be able to match the Realtime vehicle position feed you need to know the route ID or the trip ID of the journey. From what I have observed the JP API does not provide that. So the only way you can match to get a specific vehicle position is to use the GTFS realtime timetable data and match it that way. If you are trying to track a vehicle as to what trips they have taken over a course of a day, then that is not possible.