Car rental (2WD/4WD OR13/40) is available from the ever-obliging Omani owner of Khasab Rent-a-Car. A 4WD with a driver costs OR60 per day. Cars can be delivered to your hotel and dropped off at the ferry terminal.
The orange-and-white taxis in town are owned by locals running errands and are not useful as transport. If you want to go into town or beyond, ask your hotel or an agency to arrange transport for you. The going rate for any trip around town is OR3 per person.