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Private boat tour that leaves from Lefkada and goes to Kefalonia?

Hi, I’m having trouble finding a private or semi private boat tour that leaves from Lefkada that goes to Kefalonia. I’m mostly interested in seeing Fiskardo, Assos, and the caves near Sami. And maybe a swim stop in Ithaci. But all the boat tours I’m seeing don’t go to Kefalonia.

The other option I was thinking of was taking the ferry and taking our rental car with us (will rent from a place that allows this) but it worries me a little since there is only one ferry in the evening from Fiskardo back to Lefkada (Vasiliki) so if we were to miss it, that would not be good.

Any idea which companies could do a tour like this for a reasonable price? I think up to €200 per person for an 8 hr tour would be reasonable and there are 7 of us. Thanks!