What do you want experience of? Are you trying to do something specific (e.g. get hours for a qualification, get experience cruising long distances, get enough experience to decide what to buy etc).
Redbay RIB charter West Coast Scotland skippered and bareboat
Where can you hire RIB's? My Google skills are defeating me on this one.
-- 11m Redbay based in Craobh Haven
Scottish Rib Charter
-- based in Largs not sure what their current boat is.
Markhor Charter | Yacht Charter Guide
-- based at port edgar not sure if they are still going
Don't mind being escorted, may even prefer it.
I don't think anyone does a kind of "flotilla holiday" type approach. If you have enough money you can probably go to any of the commercial rib operators and/or schools and pay for a day with one of their instructors and boats. But bear in mind that that instructor/boat could be earning money from maybe 3 students on a PB2 course so expect to pay accordingly!
e.g. Someone like the people who post on here as SeaSkills (Ian) or Speedy (Greg) who run Seaskills (Oban and North Berwick?) and Seaforce (Glasgow) respectively.
Whilst I think these are both great ways to get experience and either could work out cheaper than owning a significant rib that doesn't get used much, if the idea is just to get afloat as much as possible then a small sib might be the most affordable route. You may of course find someone here willing to let you use their boat/crew for them - but I wouldn't assume that people will be rushing to meet strangers on the internet!