I have done this loads of times but didn't do it during the pandemic for obvious reasons.
usually I prefer to keep it simple though, just stick to 1 passenger or 1 group who know each other.
I remember 1 night a few years ago, I picked up a woman in her 20s, then I saw a guy who flagged me down, he was in my year in school, sound guy, I stopped for him. yer one in the back kind of freaked out for a minute and was on about getting out, then she said its ok, so I dropped her the 2 minute trip home and the other passenger paid her fare. stupid of me I know but shared taxis are common where I work, I always ask people now if they mind sharing.