Self guided tours are the way to go for me. I’ve done a few—one in Greece and Vienna to Prague. They can vary the route to your taste, you stay in pretty nice bed and breakfast places. We rent their bikes so air travel is easy. GPS plus route maps keep you from getting lost. They shlep your bags from room to room. Much cheaper than fully supported and guided tours. I think it provides more adventure and a chance to hang out with the locals.