You're absolutely right, Tim. You really don't "see" a destination unless you experience the people and the culture. Even if you don't strike out on your own with a street map, a local guide will be happy to show you around areas where the cruise line excursions don't go. All it takes is a little research and a sense of adventure. This is not only true of cruises, but land vacations as well. I have to thank my mother-in-law who passed away several years ago. As a child, she grew up in a tiny, rural village in central Portugal. If it weren't for all the stories she told us, we would never have gathered the family together two years ago for a visit to her homeland. We rented a car and drove all around visiting not only well-known places (Fatima) but also were fortunate to connect with a long-lost third cousin who showed us mom's village, where she went to school, where she played, the ruins of her former home and even met a very old woman who grew up with her.
Now when we cruise, I think of that trip and how great it is to travel off the beaten path for a true cultural experience!