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Tour operators

My husband and I will be in Lisbon for 4 nights and Porto for 5 nights. We already have hotels and wanted to book semi private tours while in both cities. Can anyone make good recommendations for a reasonably priced and dependable tour operator?
Thank you!!

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I took a walking tour with "Lisbon and Beyond" in 2019. An excellent experience.
Here's a link to their website:
https://www.lisbonbeyond.pt/

If you watched the recent RS Festival program on Portugal, Cristina Duarte was the guest from Lisbon. This is her company.