Do you need to take both cave tours? What’s the difference?

No you do not have to do both. They are different caves in close proximity to each other. The discovery tour is a much larger cave structure Hidden passages cavern was never open to the outside so some of the formations are 'longer' The discovery was open to the outside and had bats etc. so more touched

No you don't have to take both tours. One is more intense.

No you don't. There so many different things on the property. It does get a little humid in the caves. Make sure you have sneakers on.