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Car rental or private guide?

My husband and I and another couple will be taking the best of Germany, Austria and Switzerland trip this Sept. We will go early to Amsterdam for three nights and then train to Trier one day early before the tour. My friends have not traveled to Europe before so we are considering renting a car for the day to go to Luxembourg and Bastonge. Has anyone used a private driver and guide in Trier to visit these sights? We used a private guide in Bastogne several years ago and he was great but we want to see Luxembourg too. Any suggestions? Any sights not to miss?

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