INNER JOIN USING

I have this in my normal query  :

INNER JOIN vehicles USING(idvehicles)

but  in active record using this :

$builder->join('vehicles', 'e.idvehicles = vehicles.idvehicles');

does not return the same results.
Reading the builder class there is a $type  in the join method but I dont think it has
nothing to do with my case.
Does that mean I have to use a raw query to get my results ? If yes this why there is
prepare and execute in running queries I read in documentation ?

I'm very new to all this pls  pardon my ignorance