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No, the ATO looks at the main purpose of the trip. If you travel to visit relatives, or holiday, or any other reason, then you will only be able to claim (at most) 1 day car hire as the purpose of the trip was to visit relatives and only the part specifically related to the IP is claimable...

My brother was frequently audited for travel expenses related to his job. He kept meticulous records and was able to pass any questioning. As said, so long as you did a same day trip then there should be no issue. As an inspection would only take 20-30 minutes, it would be hard to justify...