We had a great tour with Bidur.

Smooth hotel pickup and drop off.

The sunrise view was breathtaking and Bidur was very friendly and knowledgeable. He filled the 3-4 hour hike to changunarayan temple with interesting information about Nepal, Trekking, culture, etc. And we got back early enough to rest briefly and possibly do some other activity in the evening. I think you can adjust how much hiking vs driving you want to do. We opted for more hiking to enjoy walking around in rural Nepal and the great scenary. 

I highly recommend this tour.