Been there twice.
Once before kids as part of a self-drive 4WD trip before kids which took in part of the original Ghan track bed, Dhalhousie Spings, Simpson Desert, Puni Bore (now capped), Horseshoe Ben Homestead, Ayrer rock (was not really called Uluru then), then literlally drove up the dry Finke River to save going out on the highway which would have beena major detour and a lot less scenic, through the Finke Gorge and Palm Valley, before swinging out to Gosses Bluff (22km diameter meteorite crater) and
Haasts Bluff, then back through the various gorges along the MacDonnell Ranges into The Alice, where it rained with a deluge turning all the inland tracks to soup and so instead of returing to Melbourne via Birdsville we swung north up to Mataranka Springs and Catherine Gorge and then east till we hit the coast to explore Fraser Island and then back down the coast to Melbourne.
* We camped at campground at Ayers rock for several nights, climbed the rock and did a number of walks including in The Olgas (Kata Tjuta) including Valley of The Winds. Personally I find The Olgas more stunning that The Rock including at sunset. having your own vehicle meant that you could explore at your own leisure and go o some longer walks.
Next trip was with our 3 daughters. It was 2000 and the Olympic batton relay was on and we took in the Cental Australian part. Redeemed some business class redemptions with Ansett (my then preferred domestic airline) to The Whitsundays for a weeks bareboating in a yacht and back through Alice Springs to Melbourne. Back then you could detour like this for no extra point cost.
Originally the plan was to camp and we had hired dual cab ute with a camping pack (much cheaper than a 4WD) and plenty of room for bags plus the camping gear and we were to explore for overa week including at Ulura (Was now called this rather than Ayers rock).. Arrived at the hire depot and could not see the dual cab. The beeming representive smiled and said we had been upgraded for free to a Challenger 4WD (was over twice the price). I opened the back door and in was 100% full of the camping gear. Even the provided esky was full of cooking utensils. Thre was not even room for a toilet bag, let alone luggage for a family of five! So I as the still beeming representative as to WTF we were meant to store our luggage and food (being camping trip yes we would need food and drink!!!) and then said I obviously need the originally booked vehicle. The now not beeming rep admitted then that the vehicle had been rolled the week prior and none were available. So sucking it up I had him refund the camp back cost, and then more as well for the inconvience and then had to suddenly convert with no planning to non-camping trip!! With realy on, which had attracted extra people that mainly meant making sure you were not were where the relay was happening!!
For Rock that meant staying at the fuel stop and motel just outside the National Park. Quite pleasant with a view towards Mt Connor. Though youngest daughter who was 4 learnt what happens when one puts one finger intoa coackatoo cage!
By ringing ahead we secureda cabin at the campground that wasa lot cheaper than the hotels, and fora family of 5 was alsomore comfortbale.
Having our own car meant that we could again take things in at our own pace, including a number of walks including climbing the Rock, at its base and at The Olgas. I think we set a record for the slowest ever ascent of Uluru as it took us over 3 hours with my 4 year summitting under her own steam (I had a hiking backpack that I could have put her into if she had tired). Several days later we were at Kings Canyon and set off on an extended walks. Two older ladies were in the carpark and we heard on remark to her friend in a disapproving way about us setting off on such a walk. Her friend looked up, spotted my daughter and then said to her friend that not to worry as she had seen that liitle girl running round the top of Ulura a few days ago.
Personally I would recommend hiring a car when you are there and driving as a big part of Central Australia is the vast space and you appreciate this more when you drive yourself. This also gives you great freedom to explore when and where you want. It also allows you to find some solitude which you will never find ona group tour or bus.
You can still take in a walking tour etc for some extra commentary.
Uluru/ Ayers Rock and The Olgas is a stunning place, but there are many stunning places in Central Australia many of which get much less traffic/visits and are much cheaper (even free if you don't mind bush camping). But yes mnay require time and effort to get too, but also then the journe becomesa big part of the trip.
I told my husband its his job to plan my Alaskan birthday trip for my five-0... which he wont, he thinks fairies plan our trips. 
