Hello again I have been looking into using a tour company the one I have looked at is PAT (Polish American Tours)
My mom, my brother and I have been on that tour twice, and loved it. They cover quite a bit of territory: Warsaw, Gdansk/Gdynia, Olsztyn, Malbork, Warsaw again, then a killer one-day drive to Auschwitz, Wadowice and Zakopane, Kraków with Wieliczka, and back to Warsaw.
The good thing is that you get preferred treatment at Malbork and Wieliczka, the two must-sees on the trip. The guides we had were excellent, and the hotels were all more than satisfactory.
Personally, I would have dropped Auschwitz, Wadowice and Zakopane from the itinerary. That's a bit too much. You could take the train from Warsaw yourself to Krakow and spend an extra day there before meeting up with the tour again. But maybe it isn't so bad now as the roads are in better shape than when we went.