I used this outfit below to rent a car with driver to get from YOG to Borobodur via Prambanan. Made our own way back to YOG as we stayed overnight at the Manohara, which I would strongly advise you to stay at if you want to do a sunrise tour.
[email protected]
http://www.jogjarentcar.com
tel :+62 274 3242999
Mobile:+62 81802775999