We had good luck with Trafalgar but they do add on "extra" day trips to see things you want to see, i.e., Michaelangelo's David was not on the regular itinerary. Still, it was a pleasant trip with good accommodations and the food of course was great.
I did Northern Italy with Road Scholar and really enjoyed the trip. I've done several Road Scholar trips and liked them all. I especially like the fellow travelers on RS tours, all well read, friendly, and ready to enjoy the experience. Not usually big complainers. The guides are always knowledgable and there is usually ample off time for your own exploration.
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