This study explores the dynamics of stakeholder involvement in rural-urban tourism development, with a focus on the role of marginalized communities in fostering inclusive and culturally sustainable tourism practices. The findings highlight the importance of combining local, tacit knowledge with specialized tourism expertise to promote both cultural inclusivity and environmental sustainability. The experiences of indigenous communities in Goa, particularly through initiatives like Soul Travelling and Heritage tours, demonstrate their key contributions to the local tourism landscape. Although initial skepticism existed among Goan stakeholders about tourism’s relevance to sustainable development, evolving views reflect growing recognition of its potential benefits. However, concerns remain regarding the private sector's limited role in capacity building and equitable development, leading to calls for greater collaboration and community empowerment. The study emphasizes the need for capacity-building programs for local governments, NGOs, and community organizations to support marginalized groups in adopting responsible tourism practices. A shift towards regenerative tourism approaches that integrate Inclusive Tourism Development (ITD) is advocated, aiming to empower stakeholders and enhance community well-being. The proposed theoretical framework highlights the transformative power of regenerative tourism in revitalizing cultural and ecological systems. Future research is encouraged to delve deeper into regenerative tourism strategies and their impact on marginalized communities, contributing to a broader understanding of sustainable tourism development.