Companion Care Needed - Full-time / Part-time

We are looking primarily for transportation to and from mother's senior care facility in Hopkins, MN to various appointments in her area. Many, not all, are medical related appointments - doctor's appointments, etc. 2-3 hour total time. Mother does not own a vehicle so caregiver will need to use their own vehicle for these trips. Mileage can be paid. Mother uses a walker but is otherwise independent. She needs a companion to accompany her and stay with her for the entire trip. Most are scheduled in advance appointments but some could be last minute. Trip frequency varies but can be 2 per week.