Burgundy Wine Tours

I booked a tour in Chablis with this fellow 11 (!) years ago, Brendan Moore. It was a fabulous visit, and I've recommended him to friends since, all of whom have been happy. Indeed, my husband, who is a sommelier, sometimes orders for his restaurant some of the wines that Brendan introduced to me that day!!! I don't think I'm allowed to post his site here, but google Brendan Moore and Burgundy and wine and tours and you will find the link (aka liaison) to his site.

We used this one a few years ago, https://wineandvoyages.com/home
Great day, great guide, covers all your req's except not a whole lot of walking through vineyards.
Pick up was near Dijon train station in a van with two other couples. We were able to bring our luggage (traveling light, Rick Steves style) and dropped us at our hotel in Beaune at the end of the day.

There are many, many villages in Burgundy that welcome visitors, if you have a rental car, you can easily do it yourself. Some require appointments, most are free, but buying a bottle or two per person is expected. Our favorites are Domaine Tollot Beaut in Chorey Les Beaune (appointment required, they speak English perfectly), Domaine Christophe Vaudoisey in Volnay (no English, but you'll get the idea), and Naudin-Ferrand in Magny-Les-Villiers. None of these places charge a fee. If you want to go off the beaten path, try the village of Irancy in the Department of the Yonne, near Chablis. Great wine, family businesses, very friendly.

The best winery experience of all, although slightly outside Burgundy, is in the little village of Chavignol, just across the Loire canal. The Henri Bourgeois winery gave us a three hour guided tour through the vineyards, winery, and tasting room. Amazing.

Though you can do it yourself by car, a tour allows you to drink the wine. Blood alcohol limits for drivers in France are low.