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Rajasthan itinerary - feedback and suggestions

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We are planning a trip to India in December. We are planning to cover Delhi, Agra, Jodhpur, Jaisalmer, and Udiapur. Please give us feedback on the itinerary and suggestions on what to do in each of our destinations.

Day 1: Arrive in Delhi in the evening
Day 2: sightseeing in Delhi
Day 3: day trip to Agra
Day 4: sightseeing in Delhi (then night train to Jaisalmer)
Day 5: arrive in Jaisalmer midday then sightsee
Day 6: Sam sand dunes
Day 7: morning train from Jaisalmer to Jodhpur arrive at around 3 and sightsee
Day 8: drive from Jodhpur to Udiapur and then sightsee in Udiapur.

A couple of questions about the itinerary:

Would an extra day in Jaisalmer be good to have?
Should we go to Jodhpur or skip it and just go to Udiapur on Day 7?
Should we look for hotels by ourselves or should we go through a travel agent for best pricing?

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