You probably know ATPs Taxi Script for SA. My scripts adds the same ability to use every taxi, with the map to select the destination and mouse controls.
San Andreas Taxi Service

Controls:
Press "T" to stop nearest cab. Press "Conversation - Yes" to enter the cab as a passenger. Movement keys(WASD only) or mouse to navigate the map. Shoot button to choose the destination.

Vice City Taxi Service

Controls:
Press "T" to stop nearest cab or make a call for a cab. Press "Sprint" to enter the cab as a passenger. Movement keys or mouse to navigate the map. Shoot button to choose the destination.
You can call for a cab if there's no taxi near you. Press T again to use it.

Liberty City Taxi Service

Controls:
Press "T" to stop nearest cab. Press "Sprint" to enter the cab as a passenger. Movement keys or mouse to navigate the map. Shoot button to choose the destination.
Navigation part of script is heavy unfinished, so don't expect all taxi will arrive exact to selected location.