Companion Care Needed - Full-time / Part-time

My husband needs a caregiver to transport him to a colonoscopy appointment. The caregiver would need to pick him up at our house in Fredericksburg, take him to the medical facility (also in Fredericksburg), wait in the waiting room, and then drive him back to our house. The hospital will not allow him to drive to and from the procedure himself, and I am unable to take him.