Yes, Villages of Southern England goes to Portsmouth and you are able to spend a few hours at the Portsmouth Historic Dockyard. That place is SO interesting!
As you can tell, I've done the Villages tour and I've done the Best of England tour although not back to back. I've also done several different programs with Road Scholar that covered some of your wants.
Here's a breakdown:
Villages - Canterbury, Dover, Salisbury, Stonehenge, Cornwall, Tintagel, pasty making (blech) and stained glass demo (which was fantastic!). Also included a Mine tour and the Lanhydrock garden tour as well as a day seeing Neolithic sites on Dartmoor
Best of England - 2 nights in the Cotswolds, Blenheim Palace (but not Oxford). 2 nights in Wales (not enough but it's a taster of an itinerary) plus it starts in Bath which is one of my favorite cities.
Road Scholar Cornwall - Cornwall, of course and Exeter Cathedral. Also included both a Mine tour and a tour of the China Clay pits and museum at Wheal Martyn, Lost Gardens of Heligan, Neolithic sites on Dartmoor but different ones than on the RS tour.
Road Scholar hiking program that's changed a bit now - Winchester
Road Scholar Wales - Pembrokeshire and Carmarthenshire. The itinerary has changed a little but it looks like the same Welshman is leading it.
None of the tours included Windsor Castle but that is so easy to do as a day trip from London that you can do it on your own.
I've been so impressed with the way Rick has responded to the Covid crisis. He is ethical and has been upfront with his customer base.
Although I've enjoyed my programs with Road Scholar- similar educational focus and small groups - I'm not so impressed with Road Scholar's response to the Covid crisis. They first refused refunds on trips they cancelled but were then pressured in to making them. Now I'm getting begging letters weekly from them asking for donations (they are a non-profit) or for me to set up a Crowdfunding site to raise money for them. I'm not sure what nitwit thought of that plan but it's pathetic. I suspect I will travel with them again but I'll not book real far ahead and I'll only book what I think I can lose either on it's own or with trip insurance.
I do not think you are going to get everything you want in one tour or one trip. You can certainly piece things together before or after a Rick Steves tour. Anything you can't see on your next trip you can put on your "to-do" list!