Ive personally been on the magical mystical tour, and also the national trust tour. both of which i enjoyed and recommend. The magical mystical tour offers a drive around liverpool to see the famous streets and places that are relevant to the beatles. national trust tours takes you to and inside lennons and mcartneys house.
I dont recommend the beatles experience (next to where you board the magical mystical tour)
Oh, and make sure you do the cavern club, and cavern pub, both great venues. almost 7 years ago