We booked a desert tour and it was fantastic!
Hamid is an incredible guide. He responded to every question we posed and took hundreds of photographs of us. There are no hidden costs or gimmicks. If you're afraid (as we were prior to visiting the desert) that camels will be treated inhumanely, fear not. Animals are respected, work less than four hours per day, and appear to be content.
I would strongly recommend him and this tour.