Most hotels, big and small, have arrangements with local tour operators. Use such arrangements. Carry enough bottled drinking water with you at the start your tour. Avoid conducted tours if your stay within a city is long. Get a car with a driver from a rental firm and let him take you around at your pace.

You can also strike a deal with a taxi driver for a daylong tour of the place you are in, but ask your hotel to get you a taxi driver they know and trust. Invite your driver to join you for the meals you have in the course of the tour. Tip him at the end of the tour.