My most memorable guided trips were with Road Scholar (e.g., Iditarod Dog Sled Race in Alaska; snorkeling, kayaking, hiking in Puerto Rico; Behind the Scenes at Disney World in Florida). But the worst were also with RS (possibly since it started contracting out trips to "providers"?).
Unfortunately, I don't know who writes the information given to us participants: RS or the provider? And, if RS, does the provider get to approve it for factual accuracy?
My suggestions: 1) check and double check the stated activity level for the RS trip, 2) look out for factual discrepancies in pre-trip written communications, 3) even be prepared to contact RS DURING YOUR TRIP with any egregious shocking appalling complaint, and 4) research other travel companies that might offer the same trip.