September 2022, our Marina cruise docked one day in Ashdod, and then 2-days in Haifa. We booked the same private guide for all three days through Tours By Locals. The guide only guided, but provided the driver. We paid via Tours by Locals for the guide and paid the driver directly each day.
Looking at a map of Israel, it was clear that spending the first night at a hotel in Jerusalem would save us hours of driving. So, the guide picked us up at Ashdod port. Toured the desert, Masada mountain, and the Dead Sea, and then dropped us at a hotel in the Old City of Jerusalem. Guide picked us up the next morning and gave us a walking tour of the Old City. In late afternoon the guide had his driver take us back to the ship in Haifa, where it had sailed to. The third day, the guide picked us up at Haifa port, and took us through Galilee, including Nazareth, and a kibbutz. The guide and driver were both fine and we enjoyed every minute.
There is no question in my mind that the private guide was significantly better than a cruise excursion. In fact, I got aboard one of the excursion buses for a few minutes as it returned to Haifa port, and observed what appeared to be a bus full of exhausted and unhappy travelers.
But, in our case, the expense was divided among three travelers. Dividing the expense this way made the cost for each of us in the neighborhood of the ship's price for its large bus excursions. If you can find a couple of people to go with, there is no question that a private guide would be a far better choice. Good luck.