I just did a fantastic tour of Tivoli in early May with Great Italy Tours. Booked it as a pick up at cruise terminal with drop off at FCO hotel. We had a fun driver ( Alex) for the day, who was prompt, very knowledgeable and drove well. Our guide was a certified guide who lived in the area, and knew both of the sites in detail. They arranged a lunch at a local small restaurant that was family owned and operated, and made pasta from scratch ( we watched them). One of the best tours I've been on.
The website is greatitalytour.com and you can find the description under day tours. I don't know how much it costs- I had a voucher from a covid cancelled tour from 2020 with them , and they honored it for this one . I will definitely use them again !