Public transportation is available in Lancaster, but it may not be the best option for exploring the nearby attractions. Renting a car is the most convenient way to get around and it will cost around $30-$50 per day. You can also rent a bike or an electric scooter, which is a great way to explore Lancaster itself.
If you have more time, consider taking a day trip to the nearby cities of Palmdale or Santa Clarita. For families, the Mulligan Family Fun Center is a great place to visit. If you have less time, try shortening the visits to some points of interest and consider visiting only the top-rated attractions. Take into account the weather conditions before planning your itinerary as it can get quite hot in Lancaster.