We did the cruise last year to the Azores, Canaries & Madeira. Unfortunately the first stop, Terceira, was cancelled due to storms. On São Miguel we'd booked a private tour through https://www.brumasecenarios.com/en/ in Ponta Delgada. It was 50 years since we'd been to the island and knew exactly what we wanted to see/do and what we didn't. Our guide/driver Gabriel was really first class and delivered everything we wanted. Highly recommended.
Regards.