Assuming you're trying to find multiple words on a single line, you can separate words with .*, e.g.
rg "import.*from.*emu"
Note that the order of the words matter, as I believe .* is regex for 'any character'.
Old way:
rg foo | rg bar
-p seems to break headings
Passing --color always --line-number seems to produce the desired result
If using rg -pS, try passing --no-heading?