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Rajasthan personalised tour

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My husband and I wish to arrange a personalized (2 week) tour of Rajasthan and Varanasi in 2017 and would like some recommendations for a tour company. We are coming from Australia and there are a few companies which do this, but wondered whether anyone could recommend an Indian based company (maybe slightly cheaper?).
We understand the below itinerary is doable but would also welcome any comments/suggestions:
Driving - Delhi (2 nights), Agra (1), Jaipur (2), Mandawa (2), Jodphur (3), Udaipur (2) then fly to Varanasi for 3 nights
Thank you

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