Figured it out - from reading code here:

Vehicle vehicleAlias = null;

var sq = NHibernate.Criterion.QueryOver.Of<VehicleGroup>()
    .Where(vg => vg.Id == groupId.Value)
    .JoinAlias(vg => vg.Vehicles, () => vehicleAlias)
    .Select(vg => vehicleAlias.Id)
;

query = Session.QueryOver<T>()
    .WithSubquery.WhereProperty(t => t.Vehicle.Id).In(sq);

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