When? I ask because the towns are so crowded from April thru mid-Oct.
For shared tours, RS recommends Mondo tours.
We used Aldo Limos, and highly recommend them.
However, if I did it again. (We were in the AC May, 2023,) I would do a boat tour of the AC coast. The towns were too crowded to enjoy, and for the driving tour , you spend as much time in the car as out of the car, and it's more like nine hours. Not sure how a toddler would deal with that, and maybe even car sickness on the curvey roads. The beauty of the towns is best enjoyed from the water. Ravello was beautiful, up in the hills, but Positano and Amalfi town were shoulder-shoulder packed. Positano is all steps.
The area is congested and there is no fast nor efficient mode to get around. The infrastructure has been sadly neglected, and the area is a victim of its Instagram success. However, Instagram doesn't photograph the crazy crowds.
Having said that, if you plan knowing the realities on the ground, you can have a wonderful trip in this beautiful area.
Safe travels!