Difficulty in traveling around the country

I am planning a trip around the southern half of Ireland from Dublin to Connemara next year. My 76 year old friend would like to join us but she has severe stenosis of the spine and finds walking more than two blocks, going up stairs and rocky terrain too painful these days. Is there some way that we can travel together without a great deal of walking? She says that she can't take trains and buses because she can't walk the platform with a suitcase or go up stairs at stations. Since we would be two couples traveling together I thought if we could take a chauffeured drive from Dublin to Kilkenny, Kilkenny to Cobh, and Cobh to Killarney and then to Galway. In between the cities we wanted to take small tours with local mini-van tours. Is this possible?