I usually prefer having my transport arranged before landing, particularly when arriving somewhere new. After a flight, the last thing I want is to spend an hour comparing rental desks and trying to understand unfamiliar conditions. For Mallorca, I found https://roscarmallorca.com/, where travellers can book a rental car online and arrange airport collection or hotel delivery. The service advertises options without a deposit or credit card, and payment can be made with cash or a debit card when collecting the vehicle. Since insurance can affect both the cost and the level of protection, I would read those terms carefully before confirming anything.