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Rajasthan temples forts & palaces which ones not to miss?

I'm in the process of getting quotes from tour companies for a car and driver to take us from Agra - Jaipur - Jodhpur - Udaipur, spending 3 nights at each place except for Agra which will just be 1 night. All we really wanted was someone to get us from place to place so we can do whatever sightseeing we feel like when we're there, but the companies I'm getting quotes from are talking about
different places to visit being included (I guess some of them are en-route between cities so it makes sense), so reluctantly, (we don't like to over-plan, but prefer some flexibility) we're having to think about the places we want to see.

My concern is this: there appear to be an awful lot of forts/temples/palaces in Rajasthan, which i know for some, is the whole reason to visit, however thats not us. We want to see the views, shop in the markets, meet the people and photograph life.

Of course we'd like to visit the main sites but i'm worried that our driver will follow a standard tourist site list and we'll end up feeling like we're wasting our holiday wandering round yet another temple!

So, for those of you have been, which ones would you say (for a couple who could easily feel 'templed out') shouldn't be missed?

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