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Aurangabad, Ajanta and Ellora

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Will be flying to Aurangabad for 2 nights in January, arriving very early in the morning the first day. Ajanta is closed the next full day we will be there -- so we need to see Ajanta the same day as our arrival. We can then visit Ellora and sites in town the following day.

Would it be best to hire a driver and/or guide for the entirety of this trip? Or is it just as good to hire taxis on the spot to get from one place to another? I understand that there are English speaking guides available at both Ajanta and Ellora, but I suspect it would be better to have a driver/guide who can take us everywhere we want.

Has anyone had a particularly good guide to recommend?

Thanks in advance for any advice.

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