To fully experience what a country has to offer, I don’t think it matters if you travel alone, with friends, or with a guided tour. I think the more important thing is to research and plan before you go so you know what to expect and what is important to experience in terms of a country’s diversity and by that I mean its culture, architecture, people, history, food, and so on.
Find out where the local people “hang out” by looking at local magazines or posted flyers. Get out of the big trendy cities and visit the local countryside. Once there you can ask the locals what recommendation they might have for you.