I visited the Van Gough Museum a few years back, and the audio guide was quite good. I visited the Rijksmuseum 2 years ago with a Context Travel guide/"docent." That tour was excellent. The docent very nicely curated the collection, providing a 2.5-3 hour tour. Unfortunately, group tours with the company are limited. The company offers a Van Gogh private tour and both group and private tours for the Rijksmuseum. From what I can tell though, the group tours for the Rijksmuseum do not run on Wednesday and Thursday, but private tours may be scheduled those days. The company is pricey! If I were to pick one museum for a tour, I would pick the Rijksmuseum. I'm returning to Amsterdam in April with a different friend. I'm following my own advice. Audio tour for Van Gogh, Context Travel (again) for Rijksmuseum.