The way you describe with escorts has been in place since 2004 (though usually the visa was issued before, in your home country).
Most people take this route as it is guaranteed.
A local in his own vehicle has its uses if you strike trouble.
As you say, lately people have managed solo but it is bit of a 'trick' to get the visa with lodging invitation.
Reads the posts by edwardbgill and his website. All is explained.
Getting the visa this way can be a bit of a gamble, but once you are past the port/border the checkpoints down south ought not stop you, though they will want a local contact number, pour votre securité, so get a local SIM.
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