If I rent out my personal vehicle on Turo and it is only used as a rental vehicle can I claim all actual cost including depreciation?

Yes (but the sales tax you paid to purchase the vehicle should probably be added to the cost for depreciation).

However, it can't just your "intent" to use it only for business, it must actually be used 100% for business in order to claim 100% of those deductions.

note that this is rental of personal property.  such activity is reported on schedule C (not E) and net profits  are subject to self-employment tax.   if this activity loses money year after year, the IRS may be able to disallow the losses under the hobby loss rules.