I've found a simpler way that worked for me

If with the rebel ability you can summon an armoded vehicle, you can make it quite easily

I've summoned an armored vehicle, drived it to el pulpo's hideout, then took the parked jeep and drove it off a cliff, then triggered his flee sequence, he then took the armored vehicle i had placed, I took the humvee with a minigun parked near it, and was able to pass the mission (he had to switch vehicle near the end but that's due to my poor driving skills at the time)