Amsterdam

My quess is to hit the TI in Amsterdam (across from train station) and ask. I should you could fine a local guide who could put together a trip for you -- probably expensive.

Those towns are so very easy to visit by train. Combine Delft with The Hague as they are near each other. Harlem is a short train ride from Amsterdam.
Three full days is ok for Amsterdam.

Are your trips to Haarlem and Delft part of the 3 days? Amsterdam is a charming city with several amazing art museums the Anne Frank House and a very interesting Dutch Resistance Museum. Take a look at what you want to do there. We were there for 4 1/2 days and enjoyed it

You can download walking tours from the Haarlem tourist office website (https://www.visithaarlem.com/en/to-do/folders-en-routes/) or collect these from their location on the Grote Markt.

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