We returned from two weeks in PP on Saturday and I can absolutely confirm that Auriga Crown DO have a desk in the arrivals hall at the airport and cars in the car park on site.
I, too, changed my booking from Auriga Crown to the ever excellent Goldcar Europa, because of doubts about this earlier in the year. We had a free upgrade to a Ford C-Max from Goldcar, with not too many miles on board, it was an excellent vehicle for four adults and luggage. We suffered a puncture and, having paid the extra 20 Euros for wheel/tyre insurance, rang the emergency number to confirm what we should do. I was told to go to any garage for a repair (or replacement tyre if not repairable) and bring the receipt back with the car to obtain a refund at the airport upon return.
The car had a space saver spare and the garage I went to in PP advised that if the tyre was repaired, it was only safe as a spare and recommended replacement. A new tyre was supplied for 186 Euros (ouch!).
On returning the car at Palma Airport the Goldcar staff refunded the 186 Euros in cash without a quibble.
Trust me - I'm sticking with Goldcar, with whom I've never had a bad experience at Palma or Malaga in many years.