Marge, I hesitate to respond because my recommendation runs counter to what you are seeking and so may not be helpful.
I have found tours that regiment my schedule day after day are profoundly useless. They're like running a racel; you've gone miles and miles, but the scenery is a blur and only your tired bones tell you you've made the trip
To get around that and still get the advantage of tours, my wife and I have adopted the practice of choosing the particular regions we want to see, then booking our travel and hotels with a good travel agent. When we arrive, say in Paris, we look at the various half day and full day tours that are available and each day choose those that interest us. This way we control our time, not some 20 year old tour guide with a schedule in his/her hand. Most often we find 2-3 days in a region is sufficient, then we move on. We get to see what we want to see, we get to rest when we're tired, we choose the cozy restaurant we saw down the street from the hotel, and we decide that the view of Paris from the heights of Sacre-Coeur would be great tonight. All hotels can arrange the tours for you.
Another point. You can book small hotels not totally inundated by tourists who look just like you, and you can eat anything on the menu, not the special deal meal the tour service is forcing on you.
I understand that this degree of independence may seem daunting, but it is really quite easy, you'll be proud of yourselves for doing it, and you'll never, never regret it
My wife and I lived in Europe for a number of years, if we can provide any further info on what to do/see, how to plan, hotels that we might know, or answer any questions, just email me at my address above.
JD.
If I can provide any further info