Companion Care for Mother in Skilled Nursing Facility (San Luis Obispo)

My mom (age 70) is in a skilled nursing facility in SLO and getting a bit antsy.
I am not local and would love someone to check on her and get her out a couple of times a week.
This could be simply going for a walk around the neighborhood.
Taking her out for coffee or lunch, to a shop, on a drive, or to church.
She had a stroke but is pretty much recovered.
Talks fine and can walk and get in and out of vehicles but needs a little supervision walking as she can sometimes get a bit tired and wobbly.
(When I'm in town I like to take her to Target to get some steps in and use the cart for added stability) She's talkative.
Sometimes impatient and irritable but always happy to go on an outing.
Skills/Requirements - A patient, adaptable, and kind person with good energy.
No real medical / nursing requirements are needed.
Some caregiving experience (references).
Ideally, someone who can drive her for outings.