The short answer is yes. You have to have your itinerary and tour guide approved beforehead and sticking to the itinerary is a part of visa approval. Having a tour guide doesn’t mean that he/she is going to be with you all time and you won’t be available to adventure the land by yourself and you shouldn’t have Isreal stamp in your passport is because of political reasons.
Iran visa for American, Canadian and British nationals
Obtain IRAN Visa