Alternatives to taxis in Japan

There are a large number of sites I wish to visit in the wider Tokyo area that are not accessible by train or bus. Often the nearest station or bus stop is a few kilometres away, walkable but due to a disability I’m looking for alternatives to make travelling easier.

What options exist, other than taxis which are rather expensive? You can’t take bikes on most trains and my understanding is that electric scooters require a driving licence and to be used on the road. I could get an international driving licence if a very light weight folding one could be taken on the train.

Is car rental a good option? For example is Android Auto available so I can use it for navigation, given that I would struggle to enter addresses in Japanese?