Does R/S Scotland tour include Falkirk for Kelpies and Falkirk wheel?
No, it doesn't. You can check the itinerary right here: https://www.ricksteves.com/tours/scotland/best-scotland-tour
Since the tour ends in Edinburgh, it is easy enough to just add a day to your trip and enjoy the Falkirk Wheel and the Kelpies, Probably have time for Stirling Castle as well if desired. You can take the train to a station near Falkirk. From there it is bus or taxi to the wheel. I would opt for taxi personally.