These days, Uber and Ola work quite well. They are likely to be cheaper if booked point-to-point because they don't have to wait while you visit relatives.

Indeed you can also book them for a block of time (4 hrs, 6 hrs, etc.)---that is typically more expensive than a car and driver from an agency, but still not so expensive, and you don't have to book in advance so that is convenient.

Booking specific drivers from specific agencies---I have done that also, but I stopped years ago (maybe around the time of your last visit!). Might still be useful if you need a SUV or some such, Uber/Ola availability can be spotty for anything other than standard size cars.