Yes, this is a private tour with the advantage of being able to decide which sights and attractions to go to and how long you wish to stay at those locations.
Yes, it is a guided tour with commentary throughout the day. The only time the guide will leave the group is to go to park or retrieve the bus or possibly at lunch if the group disperses to separate eateries.
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Sydney Scenic Private Tours
PO Box 4107
Nth Curl Curl NSW 2099