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It is done in a lot of national parks and you typically have to pay extra to get a jeep fixed for you with the driver (and not go with the allocation by the Gypsy union). The Gypsy driver gets it done for you. Or if you book a Gypsy from the hotel/resort, they do it for you.
And yes, generally to get this done you need to have a max of just 2 guests. Anything more they may not allow you to do and is also not feasible.
Ranthambhore, Bandhavgarh, Kanha, Corbett, Tadoba, and a lot of parks allow you to do it. Best is to check with the respective lodges/drivers for confirmation as the park rules keep changing.Rgds,
Sudhir