In early June, my sister and I toured Lunga, saw Staffa and stayed on Iona. We were not part of a Rick Steves tour: We bought tickets from West Coast Tours in Oban on our own. We started with ferry in Oban and landed about 45 minutes later in Craignure on Mull island; took a 1 hour, 15 minute bus across Mull Island to Fionnphort; got on a fast boat and plied the sea for about 1 hour to Lunga. There, we had 2.5 hours or so to watch the Puffin and hike. Because the chop was so intense that day, we did not get off the boat to tour Staffa. However, we got close enough to see Fingal's Cave. After the tour, we spent a day and two nights on Iona.
The experience was fabulous. For me, the highlight was being on the sea for two hours: I loved it! The intense chop was the ride of a lifetime. The hike on Lunga Island was also enjoyable. Be prepared: Wear sturdy shoes and a hat and bring a rain slick or coat. The trail involves moderate up and down hiking on rock and mud, which can get pretty wet. There are thousands of puffin. The views are stunning. The smell of the sea is also memorable.
I cannot answer the question about skipping Iona. However, there is what appeared to be a fairly frequent ferry from Iona port to Fionnphort, fairly frequent bus from Fionnphort to Craignure and fairly frequent ferry from Craingnure to Oban. However, it would be a mistake to skip Iona. The Iona Abbey and the Iona Heritage Center are excellent.
Here's a review of my visit: https://community.ricksteves.com/travel-forum/trip-reports/renew-the-soul-on-iona-lunga-and-staffa-islands