If the hotel has offered it, I've never had them tell me "no" if it was a reasonable request. If I ask the driver to wait for me for any reason, or if I need his/her help with bags, I give a couple bucks in tip.

Now that Uber/Lyft are replacing rental cars for many business travelers, I've noticed more suburban-type hotels that publish a schedule for the morning office park runs and evening bar/restaurant area runs.