A few years ago we lucked into an ideal situation with older friends who had no interest in cycling but acute interest in antiques and local history. We stayed in the same motels/hotels but each morning after breakfast went separate ways with our luggage going along with them in a battleship huge SUV. In the evenings, speaking of sybaritic luxury, they also hauled us to excellent local eateries they had discovered during the day. Our only responsibilities were doing routing and reservations, picking up a few restaurant checks and staying interested in their discovery tales.

I think it would also be fun to tour with a cycling couple and alternate driving/riding days.