Enablers With Transport

Hi there
Myself and a member of my family need transport regularly to see relatives and occasionally go on a break.  We don't have wheelchairs or mobility scooters.  Between us we have invisible disabilities of both a mental and physical nature.  
We have some people to call on for transportation but they are often booked up with other more regular duties and so it would be really good to find an agency or place where there are regular drivers.  I am in receipt of PIP so could pay people.  But local community transport is reserved more for hospital appointments.
Any help/advice would be welcomed eg organizations/agencies public or private that might meet our needs. Many thanks