I very highly recommend this agency, "The Best of Morocco," which is located in England but deals only with travel to Morocco.

http://www.morocco-travel.com/h/Home/index.html

They specialize in travel that is independent, in the sense that you do not travel with a group. However, they book and plan absolutely everything for you, have cars delivered to you and picked up from you, etc. It was great.

My friends and I started out in Fes, then had a Land Cruiser delivered to us, which we drove out through the desert to Erfoud and the dunes at Merzouga, down to Zagora, and back up the Draa Valley to Ouarzazate and Marrakech. Then we just dropped the keys to the car with the concierge of our hotel, and that was it. We did not hire a driver, but I'm sure that can be arranged.

Please e-mail me if you would like more info.