Can I explore Khiva without a guide?

You can fairly easily explore Khiva without any guide because the historic inner stronghold of Itchan Kala is fully pedestrianised, and it feels very compact. Wandering around on your own through those older lanes is practical, feels safe, and the scenery keeps paying you back as you go.

The main historical locations, tall minarets, and museums are basically grouped inside the fortress walls, so a self-led walking route is workable and practical most of the time. Still, hiring a local specialist for at least half a day is highly advised if you want to really grasp the nuanced Khorezmian past, the fine architectural character, and the cultural meaning behind places like the Tash-Khauli Palace. Those spots often don’t have enough English signage, so being accompanied helps more than you might expect.