I stayed at the Pod 51 Hotel and they offered daily tours with Streetwise. I took one the first morning and it was very good, they show you the real New York. Everybody knows that you need to visit the Central Park, the Empire State, 5th avenue, statue of Liberty, but you'll never know the real New York that way, those are just attractions.
With streetwise we went walking through the streets, appreciating the details thanks to the guide explanations, thinking about the changes that the city went and is going through, recognizing filming locations, discovering unknown museums and getting good recommendations on where to eat.
I ended up getting a tour every day while I stayed there.