I took a jeep tour about 4 years ago. Well worth it. I don't think you can go up into the canyon any other way. You can get close to ruins that are barely visible from the canyon rim.
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I went in a few years back and would highly recommend it for anybody with the opportunity. It wasn't a tour per se. We hired a guide for the day and he took us to all the ruins. We also stopped at his hogan. He has 500 acres near Spider Rock. Our guide's name was Bobby VanWinkle. He said it was a long story about his name. Ask for him at the visitor's center. 4WD drive was required and the guide rode in our vehicle.
They also have tours on the back of large trucks with a bunch of seats bolted on the bed. Bobby called them "Shake and Bakes" It didn't look like a very pleasurable way to see the canyon. Not sure about "jeep tours".
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David White