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Rajasthan by car in 14 days?

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Please comment / advise on our India Itinerary in January 2017. I will be travelling with my wife and 25 year old daughter. We are contemplating hiring a car and driver to do the whole trip, except for the trip to Agra (which we want to do by train).

Day1: Arrive in Delhi.
Day 2: depart to Agra and return that evening via train.
Day 3&4: Tour Delhi. (day 4 most likely will be New Year's eve for 2017)
Day 5: Depart for Shekhawathi Region visiting towns. Sleep over in Mandawa. (driving time from Delhi to Mandawa: approx 6 hours)
Day 6: Tour a bit of Mandawa then depart for Jaipur. (driving time: approx 4 hours)
Day7&8: Tour Jaipur. In the afternoon, travel to Ranthamboree National Park. (driving time: approx 4 hours)
Day9: Tour Ranthamboree National Park.
Day10: Travel in direction of Udaipur, stopping over in Shahapura. (driving time: approx 5 hours)
Day11: Arrive in Udaipur. Tour Udaipur. Sleep over in Udaipur. (driving time approx: 4 hours)
Day12: Travel to Jodhpur. (driving time: approx 5 hours)
Day 13: Tour Jodhpur.
Day14: Tour Jodhpur and fly out to Mumbai in the afternoon.

I am concerned that there is a lot of driving and we may not have enough time to tour. I used Google map to estimate the driving time. Please comment on how reasonable these driving times are. Do you have any suggestions on the itinerary?

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