The paradigm in which magnetic fields play a crucial role in launching/collimating outflows in many astrophysical objects continues to gain support. However, semianalytical models including the effect of magnetic fields on the dynamics and morphology of jets are still missing due to the intrinsic difficulties in integrating the equations describing a collimated, relativistic flow in the presence of gravity. Only few solutions have been found so far, due to the highly nonlinear character of the equations together with the need to blindly search for singularities. These numerical problems prevented a full exploration of the parameter space. We present a new integration scheme to solve r-self-similar, stationary, axisymmetric magnetohydrodynamics equations describing collimated, relativistic outflows crossing smoothly all the singular points (Alfvén point and modified slow/fast points). For the first time, we are able to integrate from the disk mid-plane to downstream of the modified fast point. We discuss an ensemble of jet solutions, emphasising trends and features that can be compared to observables. We present, for the first time with a semi-analytical MHD model, solutions showing counter-rotation of the jet for a substantial fraction of its extent. We find diverse jet configurations with bulk Lorentz factors up to 10 and potential sites for recollimation between 10 3 − 10 7 gravitational radii. Such extended coverage of the intervals of quantities, such as magnetic-to-thermal energy ratios at the base or the heights/widths of the recollimation region, makes our solutions suitable for application to many different systems where jets are launched.