I don't really have anything against A&K but only that unless they offer a true customized experience you are traveling on THEIR itinerary and with other clients who you may or may not click well with. You did not mention how many of you there are but I think you would have a great experience custom tailoring your trip if you decide to use Rhino Africa and Samantha and probably save time and money doing so as almost any scheduled tours I have looked at either have not enough days in some places or too many in others. I do like Tauck tours and have used them a few times but not to Africa. In fact, they cancelled my trip to Tanzania for February 2021 so I ended up tagging along with my friends who were all born in either Zimbabwe or South Africa.
Feel free to PM me if you wish.