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7 day tour of Australia

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My wife and I (late sixties and one has a slight disability) are planning to take a Princess cruise from Sydney, primarily to and around New Zealand. The pre-cruise tour offer of seven days is convenient but truly over-the-top expensive. The tour hits major points like; Ayers Rock, Cairns, Darwin, Kakadu National Park and Port Douglas. The cruise makes stops in Melbourne and Hobart on Tasmania.

My question is: Can someone recommend a tour company we can hire that will handle those sites (or others if interesting), handle our luggage and provide some interesting insights into the wonderful Australian people and sights? We understand that Australia is a very big place so air travel will be neccessary.

Thank you,

Marty

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