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I just glanced though an INSIGNIUM ASTARTES and was wondering if GW ever published anything like this for imperial guard? I'm working on some inquisition vehicles and I want the markings to match the fluff as much as possible.

Yes, they have done, although not so focussed. The Imperial Armour books all have a lot of information on various Guard regiments, including colour images of various banners, vehicles and troopers.