The Tourism Alliance and DCMS in August were able to confirm that government COVID-19 guidelines had been updated with regards to working safely in the visitor economy. Guided tours could be given to groups of up to 30 people.
From gov.uk:
Guided tours of up to 30 people may take place indoors or outdoors provided businesses undertake risk assessments in line with this guidance document and put any necessary mitigations in place.
The above information, at the time, could be found in part 2.2.2 of the visitor economy guidance for working safely during coronavirus (COVID-19). The link to the latest guidance - which may update, replace or remove the above information - can be found below.