Probably not. Cameras and lenses are generally built to handle normal transport and vibration, especially when they’re in a bag. If damage did occur, it’s usually fairly obvious.

The main thing to do is test everything normally:

• turn the camera on and confirm it operates as expected
• mount each lens and check autofocus
• take a variety of test shots
• review image sharpness and look/listen for anything unusual
• check for obvious physical issues such as loose parts, rattling glass, or anything not fitting correctly

If the camera and both lenses work normally and your test images look fine, there’s little reason to think anything was harmed. Serious damage from bouncing around in a trunk would usually show up clearly, such as broken or loose lens elements, visible impact damage, or a lens/body that no longer functions properly.

So yes, inspect and test it—but there’s no strong reason to be concerned based on vibration alone.