They are different businesses in the same vehicle and should be priced differently.
Self drive carries higher risk, because you are handing your asset to someone whose driving
you have never seen, which is why licence checks, deposits and inspections matter more. Your costs
are lower but your variance is much higher.
With driver carries driver pay, meals, overtime and allowances, and the day is usually
capped in hours with an overtime rate beyond it. Your costs are higher and more predictable, and
your vehicle is in known hands.
Do not price the second by adding a flat fee to the first. Work out the driver day properly, covering
their pay, their meals and their overtime threshold, and price from there.