Have object and its shadow behind object appear in front I have an images as planes in my scene that I am adding on to. I lines up a plane with the floor in the image, and want to add assets to make it seem as if they are on the floor. The plane is blocking the object (as anything normally does) but I want objects behind it (and their shadows) to be visible
I want the car to go behind the plane and appear in front, so that  it looks like it is on the ground in the picture. I also want it to have its shadow to add realism. Any way to do this?

I want it to act like the behind option that you have with reference images, where you can have it so that the object always appears in front of the reference image. However, I want the image to render as well so I do not have that option.

I want it to act like this, where the cube is behind the image but appears in front. (Excuse the randomness of the example, I am on a different computer.)
If you want to place the 3D car in a 2D image, you need to model some geometry.
Use the knife tool (K in Edit mode) on the background image that you have. Cut out the shapes of the pole/lantern, the tower, the wall, and the stairs. Cut it, then select the faces, duplicate them (Shift+(D) and separate them (P). Add a Soldify modifier and a Bevel modifier to the new object cut out.
For the tree, you only need half of the vertical outline. Then use the Screw modifier. While doing so, check the correct face orientation and origin.
Extrude the floor and correct the texture mapping in the UV editor if necessary. For the wall in any case. Add a Bump node to the stair's material. Set up a few lights.
Done. The car is now in the &quot;image&quot;.