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Question about Rajasthan tour companies

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Hi all,
Still working on our Rajasthan trip in August and since we are visiting family, we can only spare about 6 nights for this travel.

Few questions:

1. Which cities should we cover ? Udaipur and Jodhpur ? Can we fly from one to another ? We will be flying in from Bangalore

2. I have seen few tour companies being recommended here. Do they just book hotel and air ? I am looking for one that does give us some interesting experiences suggesting unique things to do, specially since we are traveling with our kids ages 11 & 7.5. Are they capable of providing this ? I am speaking someone here in the US , but they may be expensive considering the length of our trip. Plus it may be easier to work with someone in India directly since I am originally from there :) I don't have language issues and such.

Any thoughts ? Suggestions ?

Thanks
Kush

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