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northern india train route question

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Hi

I'm new to the site.
we're in mumbai, heading to aurangabad tomorrow.
after aurangabad, we'd like to visit udaipur, but we're having a hard time figuring a good route on trains.
is there a direct train?
if not, is there any way to avoid coming back to mumbai? can we connect through another city like ahmedabad?

after udaipur, our stops will be johdpur, jaipur, agra, and then we might go to delhi, or head straight to nepal (via gorakhpur?).
any info or advice would be great!
thanks
Jimena

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