UMRAH by car alone, plz help

Dears,
plz tell me in details how to perfrom UMRAH by my private car
what are the procedures,
what best agency to get visa? and how much?
Best ways to go there?
how much KM from DOHA to MKKAH?
how much KM from DOHA to MADINAH?
How much KM from MKKAH to MADINAH?
How much does it cost single room hotels in both locations?

if you can write your expierence this will be very helpful for many guys.
Thanks

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