I have now been on 5 RS tours and have booked my 6th, so I really like them. I also like the RS shows on PBS. However, there's a big difference between them: The RS tours often focus on interactions with locals, either proprietors in bars and restaurants, or local guides; but when on a RS tour there seems to be very little interaction with locals.
To put it another way: the Rick Steves' "philosophy" seems to be to meet the locals and travel to learn more about others. But the tours don't really seem to include that too much. Maybe it's impossible to include that in a tour?
I was wondering what others thought about this.