Although I love having knowledgeable guides and transportation provided, the cost and mobility concerns have ruled out RS tours. He makes his money from me by selling guidebooks that I find mandatory for all my trips to Europe. His books list local guides that can provide many of the experiences gound on his tours. My experience of these has mostly been in the UK but here are some examples:
1) free walking tours in York took me to places I would have totally overlooked and included walk on the city wall
2) Rabbies Trailblazers West Highlands tour from Glasgow. Wonderful! Rabbies also offers tours of UK areas where they provide transportation and you choose from a list of hotels. I definitely want to do one or more of these to areas that are hard to reach with public transport
3) I wanted to go to Avebury rather than Stonehenge so took a Mad Max tour-perfect.
4) wanted a tour of Burren in Ireland like the one on RS itinerary so arranged a tour with the guide thst I think his tours use. Of course this did require a rental csr.
My experience has been that the guides on all these tours would be as knowledgeable as what I would expect of those on a RS tour.
Obviously you have to do a lot of planning a long time in advance for this type of travel but it does alliw me to have some of the RS experience without what we would see as undesirable hotels and the cost of paying for hotels instead of getting the almost free hotels available with our Hilton and Marriott points, many of which are actually in quite centeal locations, at least in the UK.