I can't see this happening.

But whether it's possible or not, you'd be far better taking up the hotel, parking your bags there, and doing your own sightseeing in your own time, under your own steam.

To be honest, there's little to see in Doha. The spectacular Museum of Islamic Art has to be the highlight; the newly opened National Museum is close by (and certainly looks spectacular). At night you should go eat and wander in souq Waquif, also close to the museums.

Taxis are very inexpensive, distances are short: you really don't need a tour bus.