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Appreciate and thank you everyone for your suggestions. I have contacted many self drive car rentals in goa and none is ready for giving/providing a self drive vehicle for outside-goa-rides, strictly restricted to roam in goa only. The second option ZOOM CARS website it is mentioned like RTA imposed some rules that the vehicles that are been booked from zoom cars should also be taken and considered for GOA-ROAMING-ONLY. A rental car with driver is the suggestion they are giving me. Hope this helps to anyone who have the same query.
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Thanks Yoganand, this is really helpful..