Would anyone have a template or sample agreement for renting our aircraft to another pilot?
AOPA might, and if so, Hoss or one of those folks will post the link. However, be really careful about using one of those without a review by an aviation-savvy attorney licensed in your state. There are too many variations in states' contract and liability laws for any boilerplate agreement to be reliable without tailoring to the individual situation and jurisdiction. If you're an AOPA Legal Services Plan member, this is the sort of thing you can get done under that plan. Start with the sample, read it carefully, and make a list of details applicable to you and questions about the contents. Then call that attorney for a consultation.