Is there a program like the My Way tours for Portugal?
Susan,
There does not seem to be such a tour at this time: https://www.ricksteves.com/tours/spain-portugal
Susan,
You might find that the fully guided RS tour is better for Portugal, as you'll learn far more about the country and culture and it will be a more interesting experience.
Of course, you could could always structure a self-guided trip using the RS guide tour as a model. However, that would take considerably more work to plan and arrange.