We booked Jill Pretorius of Windsor Day Tours based on a Trip Advisor recommendation. The cost for a custom-designed tour from Windsor for the two of us was the same as for a day on a tour bus from London to Stratford and back. Based on our own preferences and Jill's input we saw Winchester Cathedral, Jane Austen's house and the Tudor-era Losely house and strolled through a quiet back-road village. Jill loves her local area, has a great store of historical knowledge and was helpful in getting us to our train back to London.
A note on staying overnight in Windsor -- the castle is great, but if you go during Royal Ascot week (c. June 14) the hotels are crammed and presumably more expensive and access to castle attractions is reduced because of the presence of the royal family.
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