Use the Tube. Efficient and easy. Each of you will need an Oyster Card. Refundable deposit. Use a CC with no foreign transaction fees ( Capital One ) ,
put 10 pounds on each card and off you go. You tap in and out at turnstiles at each station.
If the first Underground train is crowded wait for the next. Will say some walks from where you get off the train and walk to an exit can be lengthy. There are escalators, elevators and stairs…you should also note ( although not ask strict as it was a decade ago)
that when walking up any stairs you go up on the Left and down on the Right. They drive opposite of what we do in the states and that carries over to ingress and egress.
There is electronic signage in each station staying which train is arriving at what time. There are benches to sit on as well.
Bus transport is comfortable but London traffic is abysmal.
Born when Truman was in office. Nine times out of ten I’ll walk between sites as I enjoy experiencing the sights, sounds and yes, even the smells of the City.
Lots of nooks and crannies to discover as well as the brilliant Thames Path.
In regards to your Bloomsbury to the Tower itinerary please note that Tower opening time.
https://www.hrp.org.uk/tower-of-london/visit/opening-and-closing-times/#gs.qd9lpm
You could easily arrive early at Tower Hill Station and stroll over to the adjacent Tower Memorial park. Grab a bench and send the 20 somethings over to stand in line for tickets. Once they were purchased you’d get a text from them. You’d cross the road at the light, walk across the moat and onto the Tower Grounds. If any in the party enjoy snapping iphone pictures, great view of Tower Bridge from outside the Tower of London. Inside the Tower grounds there’s a view of The Gherkin. So a very old and iconic piece of London and a POV of London’s modern architecture in one frame.
From the Bloomsbury neighborhood and depending on which tube station is closest to where you are staying its a 25-30 minute ride to the Tower Station which directly across the road from the Tower. Might have to change trains as well…but once you get the hang of The London Underground it’s a great way to negotiate London.