We have taken two tours -- the Maritime provinces of Canada in 1999 and a national parks tour in 2005, both operated by Woodall's, which seems to now be out of business. We enjoyed both tours and felt it was money well spent.
Traveling with a tour was not as regimental as you might expect. The only travel requirement was to reach that day's destination by a certain time. Some participants left early, some took their time getting out in the morning. Some drove straight to the next destination, some of us made stops along the way. The pace of travel was up to you.
I would do it again. The friendships, the convenience of having campgrounds and activities pre-arranged, the assurance that someone was looking out for you made the tours relaxing and enjoyable. Still there was enough free time to do things on your own. Plus we planned a longer vacation around the national park tour and made stops before and after the tour.
Touring in a group may not be for everyone but they have their benefits.