In combined cycle power plants they use the exhaust gasses of a turbine engine to power a secondary steam power plant. This obviously would work in a car if it weren't for the huge complexity and cost.
This technology is probably more applicable to situations where you have a source of low quality heat and you want to extract a tiny bit of power.
If up front cost and/or weight/packaging were the issue you'd see them employed at least occasionally in marine/rail/off highway/stationary industrial applications where physical trade-offs aren't as big of an issue and the up front cost is can be more easily amortized over the long service life of the equipment it's tacked on to.
Bolting a heat engine to the internal combustion means that the excess heat from the engine block and the exhaust gases can do some work before convecting, diffusing, or radiating away. The usual problem is not the additional weight of the heat engine part, but the enormous radiator you would need to maintain a proper cold well. This would likely be a ribbed (finned) aluminum plate covering the entire underside of the car, with scoops and fans to ensure sufficient airflow across it.
The combustion engine part could then be redesigned to produce higher temperatures, as the heat engine portion can be actively driven if necessary to cool the engine block--or to warm it, as might be needed for diesel startup.
There's no need to have "excess" heat in an engine.
In a fixed volume (the cylinder, on the time-scale of ignition), pressure is proportional to temperature.
Higher temperature in the cylinder bleeds more heat into the engine block, but also produces more force on the pistons.
Nitrous oxide systems do this, at risk of overheating the engine. If you were to actively drive a Stirling integrated into that engine, it would actively cool the engine, forcing its heat into the cold well. You would overheat your oversized radiator, instead of your engine.
This was known as a turbo compound engine: https://en.wikipedia.org/wiki/Turbo-compound_engine
These improved fuel efficiency by 15-35%. It's actually the reason my mind jumped to recovering energy from exhaust gasses. Doing this directly from heat would be elegant if it could ever be made cost effective.