I was recently in Amsterdam. I planned to do a bunch of touristy things. One of the first was taking a canal ride. There are a bunch of commercial tour companies that will provide a tour of the famous Amsterdam canals for a modest fee. In these boats, you will be one of close to 75 people. Very commercial and impersonal. We decided to take a canal tour from our hotel and it was limited to 12 people. On our tour, we only had 6 people It was a much better experience in which we had a real dialogue with our tour guide. Granted it did cost us 75% more than the commercial tour. But it was well worth it.
My recommendation is if you can afford it. Try to engage in tours with small groups or even private. It allows you a better interaction. Also, the tour guides will modify their tours based upon their interaction with groups. If people do not find certain things enjoyable, they will speed through that piece and focus on others. It always better to have flexibility as you visit new places. If you want to spend a little longer in a pastry shop, a small group guide will permit you that extra time.
As you look into options, it is beneficial if you value your time and experience in addition to the cost of an activity.