Only if you think he went above and beyond your expectations.
In America, tipping is a way of acknowledging a job well done. In general any person in a hotel, a cab/taxi/uber, airport, a dining table will be working for tips and they are greatly appreciated. I think of a tip like applause. You pay to go see a performance and your tip is the applause, and who doesn’t love a standing ovation? You can google appropriate tipping but for me a $20 tip per person, per day would be a suggested tip for me or any guide you use anywhere for a personally guided tour like I give, if you are so inclined.