There is a company offering private excursions for discerning clients - myexcursions.com. I they can offer private programs for any size group and you do not need an individual Russian visa for their programs.
Have done the Baltic cruise 2 times, it is one of my favorite cruises!
In St. Petersburg, I think a general tour is always nice. Make sure you see the Peterhof Palace and Hermitage. Last time, also took a tour that included a canal boat ride that was provided great views!
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