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Rental cars in Australia are the same as USA. There are the major ones - Thrifty, Avis, Hertz, Europcar etc. I don't think there is too much difference in prices between them. A good way to find out a bit more is either go to www.google.com.au and type in a company name or type in "rental car" or go to www.thrifty.com.au for the direct websites.
There are also many smaller companies but you get what you pay for
unless you wanted to go somewhere of the beaten track, you probably would not need to rent a car. It is very easy to get into the city on the tram right from the wharf area. Then there is a free tram that takes you round the city.
It all depends on where you are going or wanting to see