Beyond planning "which parks which days" and our ADRs, we don't have a written plan. I'd never be able to stick to a step 1-2-3 schedule while touring.
The best thing to do is, like DisneyDadof3 says, pick a few things you really want to do, and make sure you do those. If you learn which attractions build up lines quicker, and make good use of FastPass, you can plot your own tour "on the fly." We begin each day with a general idea of what we want to see, and we know enough of the park touring tricks to plot our own course.
One thing I did before the first trip we took was, instead of plotting out a "touring plan", I spent a lot of time beforehand familiarizing myself with the park maps and where everything was located. My GF Nikkie was amazed that I was able to navigate the parks so well. We haven't even cracked a park map in the last two trips because of my keen WDW instincts.