Enjoy your holiday
I have cruised for 20 years and, in my opinion, ships' tours are over-priced, limited in choice and don't pack as much in as independent tours - getting 40 people on and off the bus at every stop wastes a lot of time - and the cruise lines play up the risk of missing the boat in order to sell their tours.
But If you'd spend the whole time worrying, then take the ship's tour. You might never visit that place again, so while you will spend a bit more and do a bit less, at least you can relax and enjoy it.
However, if you visit Belize, you MUST take the local bus to the zoo :-)
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