In this particular case, your claim has been promoted by conspiracy theorists, and is not true. What the video you posted does not show (because it's been carefully edited and has no audio) is that he was repeatedly asked by the police to leave. They're not giving him a "guided tour".
AP debunked it back when the Carlson broadcast that video:
https://apnews.com/article/fact-check-january-6-jacob-chansl....
Tucker Carlson is uses conspiracy theory and misinformation as a tool to stoke rage and undermine political enemies. He has portrayed abortion as human sacrifice, blamed hurricanes on abortion, denied man-made climate change, and is constantly caught in blatant and often ridiculous lies. Clearly his charm has worked on you, though, and I don't really know what else to say.