We are looking for a bus or car tour from Malaga to Gibraltar.
Sue here is a link that might help - https://mydaytrip.com/landing/malaga-to-gibraltar?imageId=1&ad_network=g&ad_campaign_id=1012183900&ad_adgroup_id=50474166700&ad_match_type=p&ad_device=c&ad_creative_id=237826602383&ad_position=1t1&ad_source=google&gclid=EAIaIQobChMI3KPeiKjJ4wIVQ8DICh2Euw3eEAAYASAAEgLEWPD_BwE
Welcome to the Forum.
What I would suggest is checking out what might be available thru South Ole Spain Tours.
https://southolespaintours.com/
Then you can also read what other previous customers have said about them, by clicking on reviews of South Ole Spain Tours on TripAdvisor:
Emily, who owns, South Ole Spain tours is an American who fell in love with Spain and started the company several years ago. You can book one of their package group tours, or you can arrange with her to get a custom tour (and driver/vehicle) for specifically what you want.
Her company picked us up in Granada, drove us thru Ronda, then down to Gibraltar (for a fabulous private tour with the most wonderful guide), and then to our next overnight in Old Town Marbella.
So, reach out to her and let her know what you would like to do, and she will give you a price. Her follow-up was fabulous, and she then reached out to make sure we were satisfied...we were far from just satisfied....we were truly delighted.
Our guide in Gibraltar met the driver at the border, then the guide took it from there, taking us out to the point, to the Top of the Rock, we met the apes, we then went thru the cave, and then the siege tunnels (which were quite fascinating). The guide was something like the retired assistant police commissioner (I do not remember specifically), but he was absolutely fabulous, telling us not only about the fascinating history of Gibraltar, the politics of the rock, what we were seeing along the way, but also what life is like in Gibraltar now for people who live there (apes have been known to sneak in open windows of homes). I was luke warm about going to Gibraltar and did so only because my husband was truly interested in going....I wound up loving our 3 hours there....very much because of our great guide that South Ole Spain Tours arranged for us!
Emily is a good first place to check.
Enjoy your trip.