Agoura Hills is best explored by car. Car rentals are usually the easiest and most convenient option. The cost of renting a car would vary depending on the type of car and the rental company, but typically it would cost between $40-$100 per day. Taxis or ride-sharing services like Uber or Lyft are also available but can be expensive, especially with longer distances.
If you have more time, consider visiting other local attractions, such as the Getty Villa or the Getty Center, which are within an hour's drive of Agoura Hills. For a lower-cost itinerary, consider choosing a mix of free or low-cost activities, such as hiking or visiting local parks.
The closest major airports to Agoura Hills are Los Angeles International Airport (LAX) and Bob Hope Airport (BUR), with LAX being about an hour's drive from Agoura Hills, and BUR being about 40 minutes away.