At present the nUI party frames should (do?) show the player "pets" inside the unit frame for each player and they should work for both actual pets and vehicles both. They are active unit frames, so they can be clicked, cast spells on, etc.
That said, the raid frames do not currently show raid member pets or vehicles. That will be fixed in nUI6 but until then you really are kinda stuck with having to use another solution I'm afraid.
To be really honest, nUI5 just sucks for healers... probably because I'm missing the healy gene and haven't played a healer. My only knowledge of needs for healers comes from their comments here. Hopefully, however, I've learned enough from them that nUI6 will be much more healer friendly.
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