If you don't want to go exactly where a cruise or bus tour takes you, you might try a Eurail Pass (Multi day) go to cities that you want to see stay near the stations, use hop on/off busses and boats in each city. Riding the trains in europe is fun and very scenic and gets you there efficiently. We have done it first class and it is a pleasure to have the nice seats and service. You can ride slow local trains and high-speed inter-city trains, both of which are fun. The planning is then up to you, but you can stay as little or as much as you want in each place
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