How to hire driving help

I am hopefully in a temporary situation where I have terrible anxiety.  I am used to driving my kids great distances during the week for necessary things and am finding the driving to just be too much at the moment.  And yet I need to be at some of the activities and can manage that, just not the driving part.  My husband helps a lot but there are some times during the week he is working and cannot help.  And I can't think of any friends where driving me around would be at all convenient or possible due to our busy schedules.  Uber wouldn't work as there are stops and places I would need a driver to just wait for us.  Care.com, and taskrabbit aren't lining up with my needs.  There are driving services for elderly but that doesn't fit either.  Any thoughts on how I could hire someone hourly on a gig basis to drive me and my kids around?