I’ve only set up a tour for one person, this was some time ago and he had mobility problems. I arranged for Mr Doi, who used to be a taxi driver, to pick him up from Kyoto station and he took it from there. I understand the experience was excellent. The recommendation came from this forum and, perhaps not so surprisingly given how good he is, Mr Doi is still in business. He no longer drives but does the tours and works in association with others if a taxi is required.
https://www.kyoto-doitaxi.com
If you approach him and tell him what is required, I’m sure he can give you a quote/some ideas.

Can’t give you much else as my 76 year old mother went to Kansai for the first time as a solo traveller earlier this year. It went so well she is returning next Spring.