Welcome to the forum. Most of us don't do organized tours but plan DIY trips. We tend to do self-drive and/or public transport. There are many good tour companies in Ireland. Since I have not done a Tenon Tour I'm afraid I don't have any opinion about them. Hopefully, someone who has used Tenon will give you their opinion. Otherwise you might do an Internet search for reviews of the company.
"semi-escorted tour" looking at the basic itinerary there is nothing there that could not be done by public transport and local tours. I am guessing the 7 day tour ending in "Clare" is for the Lisdoonvarna Singles festival in September. no plans to download the full itinerary myself.
As Michele has said most contributors to this forum are self plan visitors (I am one of the few who live here). You could try the Trip Advisor Ireland forum which does have a few tour types contributors if you aim to go that route. If you decide to self plan you will get great friendly advice from folk on here.
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Two rules for Ireland, Take your time & bring a sense of humour