ACA has been offering tours for many, many years and is a well respected organization. They offer everything from fully sagged "event" rides to tours in which all the riders carry their own gear and maintain their own bicycles.
I once rode the TransAm with an ACA group. As mentioned, we were responsible for our own gear and we had the freedom to do our own thing during the day...meeting up in the evening at the chosen campsite. Cooking chores were handled on a rotating basis. The group leader provided mostly logistical support...arranging overnight stays, keeping the budget under control and so forth.
It was a nice compromise between going solo or being coddled every step of the way.