No worries.
I mostly travel independently.... But I don't mind sharing a few itinerary segments, from time to time;)
In Madagascar, I've never hired a company. Back in 2005, that option was barely available... Now, I just find the prices way too expensive. Every park/reserve is different. For Kirindy and Andasibe, just just show up to the office and they'll arrange your guide. BTW, the distance between the road and the Kirindy Office/Accomodation is about 5 km, NOT 2km, as Bradt states. I took a taxi Brousse to that point. A two km isn't all that bad, but when 2km becomes 5km and you have all 35Kg with you (80 litre pack plus my day pack), in the sun/heat, it wasn't pleasant. I suggest you hire a cab/car to take you right to the office (from Morondova)... it's well worth the extra cash;) Oh, in Andasibe, don't get sucked into taking a guide that hangs around your accomodation, In 2005, I didn't realize that you could just walk up to the entrance of the park and have a choice.. The guide I got in 2005 ended being a drunk... I did see the Indri, so it wasn't a total disaster! Last year, I just decided to to the Park entrance and it's pretty organized there.
Here is something I found on the net regarding Misinjo:
Just opposite of the entrance to Andasibe-Mantadia National Park is a local initiative by Association Mitsinjo who manages the Analamazaotra Forest Station. Here's what Rainer Dolch had to say: "Their forest is in an excellent state, you see indri (one group of which has been habituated by an extraordinary guy called Joseph), and it seems you have a much better chance to see Uroplatus and Parson’s chameleon in the Mitsinjo forest than in the national park. Also, Mitsinjo are the only guides that offer nightwalks in the forest (and not the usual walk along the road that most Andasibe visitors are used to). Tours to the Mitsinjo forest are cheaper than tours in the national park, and your money will be used for community projects in agriculture and health for the people living around the forest managed by the association.
Anyway, I can't seem to find their website, but if you google hard enough, you'll find it.
Oh, I forgot to mention... In Kirindy, don't be pressured into getting a non-English speaking guide. I had an English guide for a couple of treks, but then they decided to switch me over to this old, drunk, rude French speaking guy on the second day. I refused to accept him, being that he was generally pretty loud and obnoxious and I also couldn't understand a word he was saying (even though my French is pretty good).