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Interactive Rainforest Guided Walks with Aboriginal Guide [http://www.daintree-ecolodge.com.au/Experiences/Daintree-Eco-Lodge-and-Spa-Aboriginal-walk.html]
Cooper's Creek Wilderness [http://www.ccwild.com/] runs excellent bushwalking tours. Pru (the owner) is very warm and knowledgeable. Take swimmers for the swimming hole at the end. Tony's Tropical Tours is also supposed to be quite reputable.
There are several operators running riverboats so you can spot crocodiles on the banks of the Daintree River