There are two companies I would recommend: Agenzia Viaggi Molinari and Europlan. Both offer similar tours.
There is one tour I always take when I am at Lake Garda. It is the Circle Lake Tour. Not only do you get to see several towns in one day. But you get a nice variety of bus, walking and even a short boat ride. The time in each city is perfect with a 2 hour lunch stop in Riva. We love the tagliatelle con funghi at the Bellavista restaurant there. Magnificent scenery all day with great commentary.
The 2nd tour I would recommend is during opera season. The tour takes you to Verona early enough to walk around the beautiful town before you see the opera. Verona is not an inexpensive city. But by departing from Lake Garda, you may save money and have a lovely drive to the city of Verona.
There is also just a tour to Verona, no opera, which is lovely and interesting.
These tours I have taken only once. I do not plan to take them again, but I highly recommend them:
All day trip to the Dolomites - If you get car sick, skip this one.
Afternoon tour to Capuzza Winery with Borghetto - The wine and local foods that are served are very good. Borghetto is very picturesque.
Other day tours are available as well to Milan, Venice and Mantova. One week is never enough at Lake Garda.
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