Salerno port to Positano shore excursion

[Bootsy15]

We have previously visited Pompeii an Herculaneam on a previous cruise to Naples. Ideally, my family and I would like to try to arrange a tour where we can get driven along the Amalfi coast road to Positano, allowing photo stops along the way. We would then like some free time to wander the town, have some lunch and catch the ferry back to Salerno (so there are photo opportunities of the coast line from sea too). Hoping to get the best of both worlds view wise!

I have found details of the ferry service back to Salerno from Positano, but wondered if anyone has any experience of doing this and could recommend any taxi/minibus companies that we could approach for quotes etc. Also would you recommend pre-booking the ferry tickets (we travel in July)?:)