We went on this trip a few years ago and it was a blast! Some early starts but you get to see so much. This is a bit tangential to what you asked, but I'd suggest adding days on to either side of the tour. The airfare difference probably isn't that much and you can stay in the tour hotels (mention you're on the tour, often there is a discount). If you have 2 days before the tour then I'd suggest staying in Amsterdam so everything is just a stroll away instead of having to take the train from Haarlem.
If you haven't been to Europe before and don't know how jetlag will hit you then an extra day or two on the front of the tour in addition to what you already plan might be a way to play it safe. Also in Amsterdam the tour only goes to the Rijksmuseum according to the online itinerary. An extra day or two would give you time to see additional museums (the Anne Frank museum is no longer included on the tour), people watch in Leidseplein, take a bike tour such as Mikes Bikes, take a train to The Hague and Delft, etc.
On the way home since you'll be leaving the hotel on a Saturday around 8am the traffic will typically be pretty light. A taxi would be fine, you could take the RER, or perhaps bundle with other tour members as others have suggested. But there is so much to see in Paris I'd suggest adding on time if you can.