No charge and is an actual piece of piss to do, they've recently done the signs and road markings so just look around and its a doddle mate.
Also you should pay for parking when picking up but as long as you stay with the car and have contact with the people you're picking up its fine to just go to the drop off point again, might have to do a quick circuit or two so you aren't sitting there for ages but its fine, actually I like doing circuits because there's a nice tunnel you get to blast through and last time I did it I was in the RS4