CalMac to/from Annan

I would like to take the ferry from Claonaig to Lochranza around 13/6 and from Brodick to Androssan or Troon around 15/6. Is anyone familiar with those ferries?

Can I take a vehicle (rental car) on both?

If so, do I need a reservation in advance or is it first-come? How limited is vehicle space?