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From Lisbon to Gibraltar travel options for quick trip

How best for 4 adults to travel from Lisbon to Algarve (2 days) to Seville (1 day) to Grenada (1 day) to Gibraltar (5 days, 4 nights). Rental cars are reasonable but one way drop off fees are huge. Is there a better way? Can one hire a car and driver? Trip planned for October 11 -15. We start in Lisbon for day or two and then take ferry (no car) from Algeciras to Tangier Med. , Morocco