Hello Maria!
Welcome to our Community! 😊
As you said, the majority of tours of the Aran Islands do stop at least at one of them, so maybe the best option in this case would be hiring a private boat and plan your own itinerary.
I've searched the internet and I've found two companies that offer private boat hiring with skipper:
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Wild Galway Boat Tours -
Galway Boat ToursI suggest that you get in contact with them to see if they can organize a custom itinerary and check their availability and prices.
Also, let's see if the members of our forum know more about the possibility of taking a tour to the Aran Islands without landing. 🤞
Ti auguro una bellissima giornata,
Valentina