Within town, auto-rickshaws and shared jeeps cover the main routes. Fares are low and drivers are accustomed to the short hops between the market, bus stand, and residential areas. For anything beyond the town centre, shared jeeps heading to surrounding villages depart from the main stand throughout the morning.
Roads to outlying villages vary considerably in quality. The main road south is reasonable; side roads into the hills can be rough, and after monsoon rains some become impassable without a four-wheel-drive vehicle. If you are planning to visit villages, ask locally about current conditions before setting out.
A local guide or contact who knows the area is a practical asset rather than a luxury here. They can arrange transport, introduce you appropriately in villages, and navigate the informal logistics of getting around in an area where formal tourist infrastructure is minimal.