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More India Itinerary Advice, also Jodhpur vs Jaisalmer

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I'm trying to finalize our international flights for a mid February India Trip. I had planned to go either in this way or reverse: Delhi>Agra>Jaipur>Jodhpur> Udaipur then home (preferably this way as I wanted to end up relaxing in Udaipur).

I just realized we could also go : Delhi>Jaipur>Jodhpur> Udaipur , then fly from Udaipur and spend 2 nights in Agra. The first routing is a bit cheaper, but the second keeps me from a possible 4 hour layover in Bombay on the routing home from Udaipur to Hong Kong.

Also any thoughts on Jodphur vs Jaisalmer? We like scenery, architecture, relaxing is preferred to more crowded....it seems Jaisalmer is a longer drive away but I can't really tell. We spent time in the desert in Namibia which was amazing, but I don't expect something on the tourist track in India to compare, so I was going to skip Jaisalmer...but am rethinking. We don't have time for both, as our itinerary is as follows:

Delhi (just for transit, or maybe one day to see the main sights)
1 or 2 nights Agra depending on connections
2 nights Jaipur
2 nights Jaisalmer or Jodhpur
4 nights Udaipur (I know this is a longish time, but the surrounding areas look beautiful and I have my heart set on relaxing at Devi Garh for a few days).

Thanks in advance.

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