esx_aiTaxi – Call a NPC-Taxi (GCPHONE)
https://forum.fivem.net/t/esx-aitaxi-...
and you should definitely adjust Change Line 115 from
local vehicle = GetVehiclePedIsIn(playerPed, false)
To
local vehicle = GetVehiclePedIsIn(playerPed, true)
in esx_aiTaxi\server\main.lua or you otherwise taxi don't drive you to the choosen destination point.