It is best to rent a car if you want more flexibility and to see more places in Lancaster. Alternatively, you can use Uber or Lyft to get from one location to another, and it would cost around $15-25 between each location.
If you have more time, we recommend visiting the Lancaster Museum of Art and History (MOAH). If you have less time, you can either skip the lunch at Hangar or cut your hike short at Prime Desert Woodland Preserve. Don't forget your camera and bring sunscreen and water for your hike!