Yes, in new-south-wales
The New South Wales Crimes Act 1900 says:
86 KIDNAPPING
(1) Basic offence A person who takes or detains a person, without the person's consent--
(1) ...
(a1) with the intention of committing a serious indictable offence, or
(b) ...
is liable to imprisonment for 14 years.
Stealing a car is a “serious indictable offence” so this is kidnapping.
