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Go to the configurations menu under "SAVE & LOAD", down at the bottom you should see a button that says "OPEN USER CONFIGURATIONS FOLDER". Clicking that should open a folder on your computer.
If you now look to the filepath to the top of the window that opened (AppData\Local\BeamNG.drive\0.32\xxx), navigate back to the BeamNG.drive folder and look for the version of BeamNG in which you have saved your vehicles. For example 0.31, then you would look into the following file path (BeamNG.drive\0.31\vehicles\[The vehicle you are searching for])
There you should find older configurations. If they didn't migrate correctly you can copy the folders and try to paste them into the newest version of BeamNG.
like billy above has stated