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Rajasthan for 7 nights..help please

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Hi,
planning trip to asia in March and will have 7 nights in rajasthan.
I have been to udaipur and jaipur before.

Here are some thoughts..would love advice

1st itinerary
Fly to Jaipur from Delhi
2 nights Shapura bagh
2 nights Rawla narlai
1 night Mihir garh
2 nights Jodhpur (Taj palace-if we can afford)

But started to think...this will be end of our trip, my husband will be joining from USA.
What about 3 nights Jaisalmer-is it worth drive? thinking possibly
3 nights jodhpur and possible 1 night stop in between.

Don't want to do too much driving and want to see things but also relax.

Please I would love suggestions!!!
J

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