OK. The thing here is that you are more interested in data outside POIs than data inside POIs.
You can create a new event rule called "Outside POI" which is true outside a POI (not inside). You configure this rule to have [POI_NAME] as the message when that event rule is true. This will create data rows that have the correct milage (between POIs). In the report SQL query, the column EventArgument will then have the name of the start POI and you can use the report layout function "next" (right-click a cell in the report layout view and go to functions) to get the name of the next POI.
So, you can customize the report layout:
Add a column "Start" and another column "Stop". The data row of the column Start contains [EventArgument] and the data row of the column Stop contains $next([EventArgument]).
Note that this will work if you use only POIs, or if you use only Geofences. You can not currently use both POIs and Geofences in the same report (or at least it will be very complicated getting the data right). You must also add a new group by vehicle in the layout in order to not accidentally mix trips of different vehicles when using the $next([EventArgument]) function.