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Yes, as a general rule the court can still find them guilty. The code is a little misleading because it uses an archaic description to describe the intoxication.
First, inside a car that is in a public place is considered a public place.
The issue then becomes the language:
"...under the influence of a controlled substance or any other intoxicating substance to the degree that:
(1) The offender may be endangered;
(2) There is endangerment to other persons or property; or
(3) The offender unreasonably annoys people in the vicinity."
Many people believe that and believe that it says that the person must be endangering themselves or others but the statute, under (1) says may be endangered, and that's the key. If the officer believes the person is intoxicated enough that, left to their own devices they may endanger themselves then the person meets the statutory definition and is publicly intoxicated.