We used Orlando Magical Rides in February, and they will be my first choice for future trips. I've used 3 other services before finding OMR, and I don't care to shop around anymore after our excellent experience with Andrea from OMR. She is fantastic. If you go with them, I'd request her - especially if you have a special celebration. Our trip was a bday trip for my daughter, and Andrea decked the interior of the SUV with balloons, banner, and streamers, and she even had bday crowns for us to wear. She had a happy bday song playing as soon as she opened the doors for us to enter the vehicle.
Besides all of that, OMR has excellent communication, clean vehicles, and perfect timing for pick up and drop off. They were so easy to work with.
ETA: We didn't use the grocery stop, but they will do this if you plan it ahead of time.