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Costa Brava hiking

We're planning to hike ("walk") along the Costa Brava in May, but we really don't want to carry backpacks -- much rather have a company move our luggage from town to town. We found 'Penguin Travel' does this, but it seems to be a set route but we'd like to make our own. Does anyone know of a company that is flexible and would let us plan our route? And anyone ever used Penguin Travel in Spain?
Thanks.

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