Loved Amsterdam, it is easy to walk from the dock, you can buy a reduced price canal cruise ticket at the dock and we saw far more than people who went on the excursion by coach. Everyone there speaks English, super, easy place to explore and so beautiful. We even managed to take in the Rembrandt house museum on our 1 day visit.
We were late arriving in Ghent and after an hour's driving by coach, had little time to explore Brussels. It was interesting and the market was good, but it felt rushed. We didn't realise there was a shuttle bus into Ghent or we would just have gone there.