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You should be able to contract (schedule) a long distance, one-way, car and driver through most hotels. They will pick you up wherever you request.
You will pay a premium for this. You can reasonably expect to have to do some prior coordination depending on vehicle and driver availability.
Alternately, there are numerous tour companies that you could coordinate your car & driver requirements through. I am partial to toursbylocals.com but there are likely other options available.