The RS tour only does the K-G ferry. I'll be renting a car so I'm wondering if it's worth doing the Flam to Gudvangen ferry too. I'll be staying in Flam/Aurland after the K-G ferry because Stegastein is calling me, but I'll also have a lot of fjord scenery before reaching this area. I'm guessing the RS tour only does the K-G ferry to avoid Flam crowds and reach Bergen the same day. I won't be going to Bergen right away as I want to continue some scenic driving after Gudvangen.
On Kaupanger ferry you can transport car as well - reservation recommended.
Flam to Gudvangen ferry are pedestrians only, one has electric motor.
Within Naeroyfjord experience is nearly the same. Rest of journey on Kaupanger ferry is not as scenic as Naeroyfjord part.
Stegastein is very scenic and a very different view, so very recommended.
Checkout further scenic routes of Norway.