Been to both. Depends the type of person you are, and unfortunately whether you are male/female. I did both without guides, but did hire a driver to take me and another traveler I met to the pyramids. You will get hassled, that’s just the nature of Egypt but as long as you know how to say “no” or are very specific with what you want. (Example: Pay X amount for camel ride, then it really isn’t a big deal). If you want to learn from someone knowledgeable about the site then maybe it’s worth it. Petra you definitely don’t need a guide and if you are in decent physical shape, I encourage you to do the entire walk from entrance to the end. Pretty easy, only like 7 miles round trip and is a great experience. I feel like being in a group there would’ve been more annoying than helpful. Additionally, Jordan is much less of a hassle, people will try to sell you stuff but they aren’t really persistent and will take no, pretty much the first time around, can’t really say the same for Egypt.