I had some similar questions last year when I wondered about taking a tour. I wondered how it would feel to give up some of the control of picking my own lodging, itinerary, and activities. I even called it , "the experiment" because that is what it was for me.
I found that I enjoyed traveling on the tour. One nice thing about Rick Steves Tours is that they build in significant free time to allow participants to make some of their own choices. In addition, you can always "opt out" of an activity if you let your guide know and do something different. I was surprised by the value I received from having a guide that was always "teaching" about what we were about to see or had local insight that I would not have been able to get on my own. The hotels were fine and I found I enjoyed the group meals and getting to know my tour mates who were really a great group of people. I saw some things that I wouldn't have seen if I was traveling alone and I had a better experience by being stretched in that manner. Rick Steves tours handle logistics exceptionally well.
I am actually leaving to go on the Best of Switzerland Tour in 1 and 1/2 weeks so I can't give you as much feedback now as I will be able to do in a month. I have spent significant time studying the itinerary and I know that there are two full days that are basically free for people to hike as they would like, and several afternoons.
I would encourage you to go ahead and try the full tour. I don't think that you'll be in big shock and I actually think you will be pleasantly surprised at how much you enjoy it. I don't think people can know if going on a tour is for them without at least trying one. You have to be a little flexible, but if you are willing to be positive and be open to new experiences, I think you will really like it.
In terms of itinerary, I like the Best of Switzerland over My way Alpine Europe because you focus in on a smaller area and get more time in the Alps. I think a day spent at Neuschwanstein Castle is a day wasted when you could be in the mountains. I also like that 1/2 the dinners are included. Switzerland is not an inexpensive country to visit.
I still travel solo or with my sister, but I am glad that I learned that I could add Rick Steves Tours into the mix as well.