Getting around: by car
You can rent compact cars, four-wheel-drive vehicles and 11-passenger minibuses with or without chauffeur. The cost of hiring a chauffeur is small (perhaps $4 a day) compared to the rental cost ($30 to $50 a day plus 50" to 60c a mile; $570 a week, unlimited miles).
Some local agencies renting cars in Antananarivo are:
There is a new company called Traveline Madagascar offering transfer services from Tana to Andasibe for 30.000 Ar and from Tana to Tamatave for 76.000 Ar. They provide a service with comfort, security and punctuality. More infos here: http://travelinemadagascar.com/
Many roads are in poor shape, specially during the rainy season, and distances are considerable. Inquire locally before setting out on a long journey. The roads are mostly good from Tana to: Tulear, Tamatave, Mahajanga, very bad the last stretch to Ft. Dauphin, middle stretch to Diego, last stretch to Morondava, and generally bad all along the east coast, with most bridges broken. There, Vehicles are brought over by a kind of raft. The road conditions are improving quite fast now, as the new president is spending a lot of effort on it.
Building a road in Madagascar