"I prefer to travel at a relaxed pace, and be more spontaneous....not this perfectly scheduled itinerary"

I believe that is exactly what you should do. If you have to be someplace at an exact time, it's not really a vacation. You may have to quit doing something that you are having a great time with just to do something that was pre-planned. I say go with the flow. If you do feel like jumping in a bus or cab then do it because you really want to, not because you already paid for it and feel obligated.