I've mainly gone with other people and it's been hit and miss. I like people and offered touring opportunities to friends who have been interested. They liked it but but it always involved a certain amount of tactful "teaching" on how to tour. It's different than just camping or biking.
Food has been an issue. Some of the people I rode with wanted to do dinner all together but didn't want to do the organizing of the food beforehand. As a result, dinnertime came and they'd say, "who wants to share food?" The folks who had their dinner all ready to go looked like anti-social jerks. Meanwhile, they're still cooking after dark and I'm done with all my stuff packed for the night. Next someone wants to borrow some pot. It can get... well, touchy.
Leaving in the morning is another tough subject. You can't leave your friends behind but at the same time daylight is finite and biking in the morning is nice and pleasant.
And the couples always fight!
I'd still rather do it with people. I like to talk with folks, share a view, go through the suffering together. I know you can meet people on the road but my tours just aren't that long, 3-10 days.