Hi,
I am looking for car and driver in Rio De Janeiro for 10 hrs for 1 day. Please can you advice what is the approximate cost and if you could recommend any companies?
I want to visit Centro, Botanical Garden, Beaches and if we have time then Santa Teresa and Lapa. So I think it will be safer and will save lot of time if we can hire car/taxi for full day.
I am not looking for guided tour as they are super expensive. We are 4 adults.

Also is there any place where we can watch Samba show? We are not interested in dancing. We only want to watch show.

Thanks

Elsewhere you said you had several quotes between 700-1000 reais. Go with one of those.
I would suggest simply taking a regular yellow taxi, or two. Otherwise hire an English speaking private guide with a vehicle. There is very little in between; if people speak English, they are going to earn a guide's salary.
You can't get around in centro with a car; better on foot. By foot only on the Botanical Garden. Santa Teresa is best by bondinho. Avoid Lapa during the day.

If you want to see costumed samba enredo, come at Carnaval. Platforms is a tacky, expensive tourist ripoff, as is the one other "show" in Rio.
You could go to see locals dance samba gafiera to live samba music at a club like Carioca da Gema.

The name of the show should have been spelled "Plataforma".

"I am not looking for guided tour as they are super expensive."

Depends on what you mean by a guided tour. I took a couple of minibus tours booked through my hotel after I arrived, one in town and one to Petropolis, and they certainly weren't expensive. Of course, the cost might depend somewhat on the hotel. If you book through a non-local company before you arrive that would put the price up, but is unnecessary.