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River Lines on the Lower Danube?

We would like to see the lower Danube, particularly the Iron Gate. There are river cruises that go from Budapest to Bucharest, but we're starting to feel that we've outgrown the river cruise experience. The annoyances of group travel are starting to outweigh the conveniences. Are there regular passenger boats that will take you along that stretch of the Danube? Not the full cruise package but just transportation from one to another. Something like the boats that run on the Rhine or the Hurtigruten in Norway. We'd like to travel on the river as part of a self-guided trip.

--Dav