As per business transactions, Company A is renting a truck for transport Company B or anyone.
Before opting your service, a customer used enquiry about transport charges for renting a month which is inclusive of your FC cost, repair and maintenance, insurance so on.
You raise invoice based on cost and fixed a tariff per km charges. If you asked again, it is not fair.
When a company B opting your service, they spent money on fuel, toll expenses, driver salary and bata so on. If you collect all these expenses from company B, what do they account in their business?
They send all money to company A, you paid all expenses. You receive amount more than invoice you gave them right. What would you do at the end of the year. Will you show it in customer advance or debtor in surplus.
Transporter invoice under GST in RCM method. Please check this once again. If you take input ISD.
You can claim imbursement from company B. But can't available GST on insurance.