Driving Miss Daisy
When dad had hospital appointments that were going to take some time, we agreed with our "Daisy" that she didn't need to wait but we would call her mobile when we needed picking up. That worked well for all parties. She fitted in another job and although we had to wait half hour for her to come back for us, at least we weren't waiting all day for the dial a ride.
If the disabled or elderly person is on their own, the Daisy also acts as a companion.
https://drivingmissdaisy.co.uk/