Since Agoura Hills is a relatively small town, it's best to rent a car to get around. The estimated cost of car rental ranges from $50-100 depending on the car type and rental agency. It's important to note that parking is free in most places. The total driving time for this itinerary is approximately 3 hours if you follow the route suggested above.
If you have more time, you can add a visit to the Gardens of the World, a botanical park that showcases gardens from around the world. If you have less time, you can skip Paramount Ranch and head straight to The Old Place for lunch. Don't forget to bring sunscreen, water, and comfortable shoes for hiking.