I'm going to chime in as the contrarian. I did my first moto tour in Europe following an event there (
the Centopassi). The event had a route and a road book, and they carried our luggage to the first hotel. After that I was on my own. That was in 2006. I've been back 9 more times, and will be back again in this summer. When I realized how much I liked touring in Europe, I shipped a bike there in 2011 using
Stefan Knopf. BTW, he does tours as well as shipping.
In the ten tours I've done, I've organized events (EuroBARF), organized tours with friends, and designed and led tours for Transformative Journeys, and here's the part where I'll be contrary: I see no reason for ME to use a touring company. YMMV.
Instead, get a copy of
John Hermann's Motorcycle Journeys Through the Alps and Beyond. It can identify areas, routes, and even lodging and dining choices, plus it gives all sorts of inside scoop on lots of places. Get some good Michelin maps to see what else is close by, then build yourself some routes. For my taste, I book some stuff in advance, particularly in busier areas, and I leave some nights open so that I can be more flexible and spontaneous in my route choices.
I've not done the big tours, but I've encountered more than a handful. In some cases, they were quite obvious. They were often slow, and some riders were clearly way out of their depth. Getting luggage carried can be a plus, or you can pack lighter. Having a guide when you're lost, or there's a mechanical issue can be reassuring, but I've always managed to either sort it out or get help. In fact, for me that heightens the experience.
In June, I'll be heading back, riding from the north of England to the Chunnel (actually a fun experience), then across France to Grenoble where we'll pick up the Route du Napoleon (my buddies want to ride it, I've ridden it before and I get why people like it) to get to the Riviera before heading into the Maritime and Haute Alps, then back up through Eastern France and the Vosges to get to the Black Forest and beyond.
Enjoy!
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