Hi Nancy,
If you already have qRules installed, then I'd suggest using a generic blank InfoPath 2013 form instead of a list form. Then you can make the first 16 fields non-repeating and the other 6 fields can all belong to a repeating section. If you then use the qRules SubmitToSharePointList command, you can submit all of the fields, repeating and non-repeating, to a list.
For example, if a vehicle has 3 inspection issues, then an inspector would open up a new form for the vehicle, enter the information for the first 16 fields, then enter 3 separate repeating rows (6 fields each). When the inspector submits the form, your SubmitToSharePointList command would create 3 rows in your list, where the first 16 columns in the list would all have the same data, and the remaining 6 fields would all be different for each of the 3 rows.
Let me know if that makes sense.