is there a tour of Sorrento, Scilly and Capri

There is a Rick Steves tour of Sicily
https://www.ricksteves.com/tours/italy/sicily
and you could also see Sorrento and Capri on your own.

Have you considered buying Rick Steves (RS) Naples & the Amalfi Coast and Sicily guidebooks? What’s great about these books is you don’t need to take a tour. Instead you can take RS self-guided walks, etc. and he also provides details on how to reach your destination.

Steve, no, Rick Steves doesn't offer a single tour inclusive of all 3 of these destinations. You can easily see which tours are available by browsing "Our Tours" on the left side of this page.

If you google "Tour of Sicily, Sorrento and Capri", you'll find some other companies which offer those tours, although I'd be cautious of booking one this year unless the small print makes it VERY clear that you can cancel on reasonably short notice without penalty. I'll agree that Sorrento and Capri can easily be explored without a tour at all if you do some research (we've done that.)

RS offers a Southern Italy Tour and a Sicily Tour.
Some people do a back to back tour. We did a Southern Italy/Eastern Sicily tour a number of years ago with earthboundexpeditions.com.