Diocletian's Palace should be a walking tour. The palace is very concentrated, so you won't have a bike or segway option. I didn't take a guided tour while I was there, but there are options for private guides in Rick's Croatia book. If you'd prefer a tour group (~20 people), there are tours going all the time and it should be easy to join a group.
Regarding sailing, I took a tour last year that left from Hvar and went around the Palenki Islands. We stopped for a while on Palmižana, but didn't have the time (or the desire) to explore very much because of the rough weather. It was the only day of our Croatia trip that was very overcast and windy. Those conditions made the sailing much more adventurous than normal.
Regarding Viator, it is just an aggregator of local companies. They are simply a middle-man to give us an easy way to search for tours, private drivers, airport transfer, etc. without having to search through the bowels of the internet for each company in each location. I've had good success with Viator in the past, but usually there are other local companies offering the same service, and there's not that much difference between companies when it comes to group tours.