You always have an option to drive your own vehicle and see the marvelous views, the exceptions are 1. if you have 2 or more cars (we had 2) visiting this place and you want to see everything together and 2. you want to see a little bit more (not necessarily breathtaking) where only natives are allowed to take you.
As a main driver of our car, it is always fun to sit back, relax, and enjoy the views. I will recommend if you want to do it leisurely. Our guide was okay, not great.