Boston tours from Normandy Farms?

Normandy Farms is close to the Foxboro commuter rail station which takes you into South Station, the heart of downtown Boston. The Red Line of the MBTA also runs through South Station which gets you to basically anywhere in Metro Boston.

Lots of stuff is free - Freedom Trail, USS Constitution, but do bring your wallet.

Minute Man is close to the Ayer commuter rail station and gets you into North Station. MBTA Green Line runs through there.

I've stayed at both places. Minute Man is quieter and more woodsie, Normandy Farms has more for the kids to do.

Lots of good information on the Normandy Farms website.
You might want to look at This Page
We did Boston by car several years ago from the Minute Man RV park. For us finding places to park was not a problem.

Why not call Normandy Farms and ask them?

Yes but I don't remember where from Normandy Farms. It is highly advised to NOT try to drive around/thru Boston. Normandy Farms will let you know where to pick up the bus.