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Yes my relatives have recently traveled. Protocol are very basic you should have proper details of your stay and COVID negative test should be done prior. You can be quarantined at the place where you are going. Mask is necessary as plus have a sanatizer bottle and wear gloves too ( own safety). And be prepared for any circumstances ( quarantine, flight delay etc.) try to carry compact luggage. Yes you can arrive by cab or by your own vehicle also. No such regulation on that.
Yes, protocols list is a bit lengthy. You can find the list by simply googling it. And yes arriving through cab is allowed.
Every state has different protocols, you can check on airvistara.com for statewise guideliness. Also, have Aarogua setu app and your boarding pass.
There was a detailed article on So Delhi itself. Search for it