I've done 11 tours with Road Scholar and find them to be similar to Rick's tours. Here is a link that I think takes you to the tours that are available in 2021. I'm doing one to SW France in October and another forum member is doing the same tour the week ahead of me.
https://www.roadscholar.org/collections/2021/
To me, the guides are generally the same high caliber with Road Scholar as with Rick Steves. They don't spend much time teaching ways to travel independently which Rick's tour guides do. I do find some travelers on those tours are a little bit needier. Most of the Road Scholar tours I've taken recently tend to spend more nights in one location and do day trips from there. I did a program in Provence in October 2019 that was wonderful - 6 nights in Aix and 5 in Arles. I generally add on time at the beginning and the end. If you book airfare thru them they will usually pick up up from the airport and transport to the first hotel. I book my own airfare and just take the train to the start (which...laughing...I learned from taking Rick's tours!!).
Now I generally choose the trip based on the itinerary. Sometimes Rick goes where I'm in the mood to go...sometimes Road Scholar does, lol!!