If I look at a book about vehicles, can I say “What kind of vehicle is it?" to get the answer “It’s a bike." (or a truck, a car, a motorcycle, etc)? Is that question correct or not? How should I ask?
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What kind of vehicle is it? is grammatical, but it might, depending on the circumstances, be more appropriate to say What kind of vehicle is that?
Yes - that is a correct way to ask your question.
You could also ask:
These are all functionally equivalent ways of asking the same thing.
You could also say, 'which type of vehicle is a Jeep Grand Cherokee?' Answer might be: Midsized SUV
But then you would need a list available for them to pick from.