We had arranged a private tour with Capt Bob (not beach people and wanted to be on our own schedule). We told him the things we would like and he arranged a van, driver and route.
I would like to do the extreme, but you have to be 18 and my 14 y/o niece would be extremely disappointed for us to go without her. The courses are more like an obstacle course (you do the climbing up in order to glide down). I don't exercise regularly and was sore the next day from the squatting and pulling up.
I also did the kids course with DD (4). I think the minimum height on the little kids is 47". Grandma hung in the tree-top lounge and when I left DD to do the adults course, the guide kept her suited up and let her go again with the next group.
I would recommend both Capt Bob and Loterie Farm. I don't know that I would try to navigate myself around the island, so having someone to drive us was nice. Will likely do less general sight-seeing and allow more time at the beach for the kids to enjoy the water.