@doglover214
At most ports that are a short distance from the city center, Regent provides shuttles usually on a 30 minute turn around time. For cities a distance from port, you may need to book an excursion that is identified as a "Rome On Your Own," or "Florence On Your Own." These are usually no cost but return is a set time. With gasoline prices rising internationally, I doubt you will find a shuttle bus a distance from port.
The ports you mentioned are 1-2+ hours from port.
If these don't work for you, you may want to hire a private driver.