If you decide not to hire a car if it is your first visit to Madeira, I would recommend Ernesto as your taxi driver. His service was excellent and I'd say his prices were reasonable. If you want to visit certain places, they can give you help and advice. We were with a toddler so a heads up always helps.
His was always prompt and so communication was not an issue. No stress and relax was his motto, enjoy the holiday.
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