Inclusive tourism, particularly cultural archaeology and historical sites has not progressed sufficiently despite the increasing number of people facing accessibility challenges, including individuals with disabilities, elderly people, families with children, and individuals with temporary mobility challenges. They are underrepresented in the tourism industry. Inclusivity projects for historical sites in terms of management and development require visitor studies, which should consist of inquiries and analyses of visitors’ experiences and expectations. This qualitative and co-exploratory research looks at how tourists engage with cultural heritage sites in Jordan, where each participant and the researcher collaborate on a study of inclusivity in historical sites by exchanging information and ideas during the interview session; it is how visiting experiences to historical sites for diverse local people especially people with disabilities can be understood and improved in terms of accessibility, usability, and enjoyment. It examines visitors’ previous visiting experience, pre-visit expectations, and their opinions and recommendations regarding engaging in future decision-making processes. A total of 45 participants took part in the study. Among them, 34 individuals participated in in-person empathy interviews, which included 29 individuals with disabilities and five elderly people. Additionally, 11 individuals engaged in the study through online Zoom interviews. This subgroup comprised five families with young children and six individuals facing temporary impairments. NVivo was used to analyse the responses and determine the theoretical framework keywords. The key findings indicated that the lack of immediate accessibility components like accessible parking, a lack of a tour guide with experience working with visitors with disabilities, the lack of haptic access, and the lack of auto-sensing facilities deterred most previous visitors from returning to the historical site. Research participants demonstrated a high level of interest in driving change in society by raising awareness about the importance of accessibility and providing design ideas or identifying accessibility issues at historical sites. Several suggestions were made to improve their involvement in future development and design processes. Finally, despite the possibilities afforded by economic, social, and technological change, we found that the current approach to development still calls for a more integrated vision grounded in equity and inclusion by incorporating technology and participatory decision-making processes.