An organized tour is always going to be much more expensive than one you plan yourself. This is normal, and to be expected. On an organized tour, somebody has to pay for staff, planning, advertising, insurance, office space, business taxes, supplies, a sag wagon, and that somebody is the person who signs up! Given everything involved in running a for-profit touring company, $300 per day does not seem excessive to me. I don't think that most tour owners are going to become fabulously wealthy.

I have never gone on an organized tour. But I might in the future. I have always been okay with the ambiguity of self-guided tours, and there have been times when I almost did not find a place to stay overnight. (I always stay in motels and B&Bs, and don't carry camping equipment.) That might be fine for me, but I don't think this kind of traveling with go over well if I were touring with my family.