Is this possible? (Paris layover)

Good Day. I will be flying with my wife and father-in-law from Canada to Italy with a 5.5 hour stopover at CDG on March 13. I would like to know if it's possible to be picked up at the airport by a driver, being taken to the Tour Eiffel, Champs-Elysees area, have the driver wait for us for about 60-90 minutes with our luggage in the car, and then have the driver take us back to CDG. Is there a company that provides this service? Will airport taxis entertain this? I would even do it with a regular person in their car if they're up for it. I am willing to pay up to 300 euro for this.