I need help with being able to charge an amount to the customer for pickup and how to pay the driver for making the pick up and delivery.
This isn’t clear enough to give an answer
You can use a payment provider. One popular provider is Stripe.
There are plugins with preconfigured API calls to connect or you can configure your own API calls.
Then can setup to do transfers after customer is charged. You take payment, then transfer to the driver after delivery is complete.