Tour guides, especially for full-day or multi-day tours, are tipped in most countries that have any tipping culture at all, even where restaurant tipping is minimal.
A common guideline is a fixed amount per person for a half or full day tour, rather than a percentage. Group tours are typically tipped less per person than private, one-on-one tours.
For multi-day tours with a consistent guide and driver, many people tip once at the end covering the full trip rather than tipping daily. Cash in the local currency is almost always preferred over card or app-based tips for tour guides.
This varies a lot by country. For specifics on where you are, check the tipping guide by country.
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