Here are some companies that link you to local guides:

toursbylocals.com
getyourguide.com
mydaytrip.com - provides transfers between cities and suggests sights to see along the way

I, too, love the all in of a safari trip. I think you will have to pay handsomely to have a comparable custom plan for a trip in Spain. If that is what you want, you can google "Custom Tour for Spain". A number of agents came up. Otherwise, you will need to do a lot of research to figure out where you want to go and what you want to see. It's what I've done for all my years of international travel. I'm a big believer in buying a guide book that makes suggestions of the high points to see in a country. Fodors offers guides to many countries. (They also happen to be owned by Internet Brands who also owns FlyerTalk.) You can also look up tours by agencies such as Globus Gateway, not with any intent to join a group tour but because they have figured out the top sights that tourists want to see. It can be a very quick way to sort thru what appeals to you.