Just me, but especially if not camping I really can't see paying a touring company. I wouldn't especially even advise going with an organized tour even if you were camping. I can see it for someone camping and new to it who may need some hand holding, but how much hand holding do you need to ride from motel to motel? In effect with no camping it becomes just day rides separated with motel stays. My advice is just get on your bike, skip the touring company, and go. I really don't see much added benefit to going with a company especially given your parameters.

How long of a tour are you considering?

Whatever you wind up doing I hope you have a great time.