I’m not sure there are any tour companies that offer the support you want. I’ve not used any on the Camino, but they generally just make the hotel reservations for you and arrange to transport your bags.
In reality, however, all they’re doing is providing emotional comfort to those who are afraid to embark on a camino on their own. But as Camino veterans, it would seem that you don’t need this kind of psychological support, and you would be better off making the arrangements on your own. You can arrange the bag transport through Correos or Jacotrans, either on an ad hoc basis or for your whole camino, and you can easily make your own reservations through booking.com or similar site. Doing it this way would actually give you more flexibility, since reservations could be canceled with 24 or 48 hour notice (difficult to do with a touring company). Plus, you could just arrange the bag transport from day to day rather than being locked into an itinerary. You’d also save a bundle. of money, since the touring companies mark everything up dramatically.
To my knowledge, the touriing companies don’t offer occasional transport, Even if they do, it would probably be easier, and certainly cheaper, just to take a local bus, or even a taxi. Spanish taxis typically run about 1 euro per kilometer.
Being 70 myself, I understand where you’re coming from. But I think there are better, and cheaper ways to arrange a camino on your own terms without using a touring company. More likely than not, it seems to me they will only cut down on your flexibility and drive up your cost.