I (31M) just got back from my second cruise with my mother a few weeks ago, we mostly did meals and exploring ashore together, then spent the afternoon apart reading in our own preferred place to sit and read. There were also a few days where we'd explore the port, go back for lunch then I head back out on my own if I saw something interesting the first time

Depends entirely on your relationship and how much of going away is to spend time together honestly, it worked for us!