You can usually leave a tour whenever you want.

Yes, almost always. Most guided tours—walking tours, bus tours, boat tours—are not prison. You can step away if you’re tired, bored, or want to explore something on your own. The exception is something like a guided hike in the wilderness where you can’t just wander off, or a structured event that requires you stay for the group. But even then, just ask the guide. They’ll generally tell you where to meet back up or how to get back. If you’re booking something, check the fine print, but in practice, no one’s going to tackle you for leaving early.

Don’t be that person who suffers through a tour just because they felt obligated.