Regarding the weeds in particular:
I'd personally suggest poisoning the ones between the rocks, and mowing the ones on the grass. Some weeds are so persistent they'll grow between rocks with roots under the rocks, and you just flat out can't pull them out. You'd have to move all the rocks first. Much easier to kill them instead.
With weeds on the grass, depends on the type of weed. If it's another kind of grass or ground cover, I say let it grow and just mow it with the rest of the lawn. If you have peanut plants growing along the edge of the driveway, I'd recommend giving it room to expand. Edge a space around a foot away from the driveway, and let the peanut plants take over that foot-long strip. It's a stunning ground cover and contrasts very nicely with St. Augustine.
If it's dandelions, they pull out very easily, they root shallow. Just reach down and pull from the base and they come right out. No reason to waste money paying someone to do that, you only need to do it once a week, takes around 15 minutes for the whole yard.
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