If you check availability on the various rental companies' websites, they'll show you the total rental cost for the whole duration of the rental. You can choose what size of car you need and if you need extras like a car seat. You can look at example cars as you compare prices to see what that particular company means by "compact", "midsize", etc.
Unlike with, say, hotel reservations, there's no penalty for canceling a car reservation, so there's no harm making a reservation and then canceling it if you find a better deal from another company before your trip.
A friend recently had trouble with a rental reservation she'd made through Expedia: she had to pay in advance (which the car companies never make you do) and when she arrived she had a long wait for a car. It's safer to reserve through the rental companies' websites themselves.
I recently joined Hertz's Gold Club, which is free, and found it a huge convenience in my last couple of trips. They send you a text when your plane lands telling you which car is reserved for you, and you can go straight to the car and drive it away without even stopping at the rental desk. Since it costs nothing to join, it's worth doing for the way it smooths the process – plus they send you coupons for discounts on rentals.
On insurance: your credit card probably covers what's covered by the rental company's optional insurance. Call your cc company and ask what's covered before making the rental reservation, and then you can opt for only what you need.
Pretty much all rentals include unlimited mileage these days.
I always opt to buy a tank of gas from the rental company so I don't have to worry about filling up before I return the car, on the theory that I'll be in more of a rush on the way back to the airport. It might save a little money to fill up the tank on the way back to the airport when you leave, but I think it's not enough of a difference to be worth the hassle.
It all sounds complicated, but it's straightforward IRL.