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Rajasthan Itinerary in 11/12 days

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Hi everyone - My husband and I are looking to finalize our itinerary for January. We will be in Mumbai beforehand visiting family before going on to the north for 11/12 days. We need to fly out of Dehli, back to NY on Jan 16th. We can leave Mumbai on Jan 4th or 5th.

So we have some places in mind that we definitely want to see, but it's only coming out to 7/8 days. I wanted your feedback on additional places we can add in, or if you think our plan is too slow/fast.

Here's what we were thinking:
Fly from Mumbai to Jaisalmer, one night in Jaisalmer (do two instead?)
Drive to Jodhpur, one night in Jodhpur
Drive to Jaipur, three nights in Jaipur
Drive to Agra, one night in Agra - see the Taj Mahal at sunrise the next day and the fort
Drive to Dehli, one night in Dehli, flying out the following evening

This brings us to 7 nights. Should we stay in one of these more? What other places can we tack on en route? I realize we are leaving out Udaipur and Khujarao (both places I really wanted to see, but it looks pretty far away and would require another flight, right?)

Thanks, as always, for the advice.

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