I have visited la Maison Drouhin twice during visits to Beaune. Tours were with Jean-Pierre Cropsal, who is charming, knowledgeable and an excellent host. The underground cellars are very interesting, as is the area that was walled off to keep the rare wines away from occupying forces during WWII. Tasting afterwards is excellent as well. But the history and setting are simply awesome.
I suggest writing ahead for tour arrangements. And plan a few extra minutes to find the entrance, as the tiny streets in Beaune can get confusing.
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