Hi Cradd, and
The most popular and reliable car hire firm that we use are Vanrell.
https://rentacarvanrell.com/en/bookings-rentacar-majorca.html
The only difference with Vanrell from the usual in-terminal companies is that you walk across the zebra crossing to the car park and pick up the keys and paperwork from there, on the 4th floor.
Quote includes zero excess insurance, and petrol is like for like, so if they give it to you with quarter of a tank then you bring it back with quarter of a tank, but they don't quibble anyway.
You'll have to pay a euro or two to exit the car park, so have some change for the machine.
Return the car to the same place you get it from, which is level 3 of the regular car park, NOT 'car returns' as signposted.
Make sure you look at all the T & C's from other companies if comparing quotes.
Most important thing though is to avoid OK car hire (perhaps also Goldcar, and Record Go) at all costs. They are crooks and will find an imaginary scratch on the car when you return it, and charge your card approx €200 - €300 for 'mending' the scratch.