Do I need to enter expense reimbursement from my employer? This includes a vehicle expense allowance and health insurance allowance. If so, where can I enter it?

No, you do not need to enter expense reimbursements on your tax return. You just enter your W-2 as it was received. If you are incurring an "expense" and it's being returned to you, this is not income.

I guess maybe I should have said expense allowance. I get a monthly vehicle allowance and health insurance allowance. The health insurance allowance is more than I pay out of pocket for health insurance.