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Car or Driver & Camel + Hike

We will have 2 weeks in Jordan.
I would like to travel from Amman to Wadi Rum and spend 3 to 4 days. My preference would be to take a camel into the desert, camp and hike in some of the area for about 2 to 4 days. Preferably camping in the desert. I would like to end up in Aquba but don't want just the camel riding. Any suggestions or experiences in this please let me know.
After Wadi Rum & Aquba I was planning on 4 days in Petra. My first thought was renting a car. But if it is possible to find a driver to take us to Wadi Rum, drop us off, then find transportation to Aquba this might be preferable. I would then want a car to go to Petra. Will a car be needed there if I spend one night at the village and the other at a hotel near the gate? As I have two weeks I plan on visiting Madaba, Jerash, the castles and Red Sea and possibly the Dana Nature center. Better to just rent the car even if parked for several days? Or are there alternatives?

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