I managed to sneak in a week long trip to Cuba in the few weeks before the world went crazy with Covid with three friends - Mike, Eli and Sean. We flew from NYC, to Miami and then to Havana.
It was very easy - we applied for a visa and then ticked 'Support for the Cuban People'. We rode out along the north coast from Havana to Vinales (the tobacco growing region) and then came back along the south coast and then back up to Havana.
We packed light - no tents and stayed in what the Cubans call 'Casa Particulares'. Which are basically lovely Cuban peoples houses - where they let you stay and cook you dinner.