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Seeking help on Rajasthan Itinerary

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Recalling the valuable assistance received from Fodors experts on earlier trips, including one to India in 2011 (see my trip report if interested), I am again seeking advice. This time it is for an appx two-week trip in January, mostly to Rajasthan, beginning in Udaipur (fly in from Mumbai), hitting Jodhpur, possibly Jaisalmer, Jaipur and then winding up in Delhi. Travelers are myself, plus wife and college-student son for whom this is first trip to India. We are not looking to cram too much in or hit every must-see sight, but rather experience the general sights, vibes, colors, sounds (and smells!) that define India travel. Looking for civilized comfort but not Taj or Oberoi luxury. Would plan to travel mostly by car and driver, based on assumption it will be easy to arrange them on the spot in each place through hotels or local travel agents. With all that as a preamble, here is preliminary thinking on itinerary. Questions follow.
3 nights Udaipur (Hotel Shiv Niwas Palace for Mom & Dad, guest house for son)
Overnight Kumbalgarh en route to Jodhpur.
2 nights Jodhpur (Haveli Pal Inn)
2 nights Jaisalmer (ideally travel by early train)
Return by car to Jodphur for 1 night, leave in morning for Pushkar.
Overnight 1 night Pushkar.
2 nights Jaipur (Umaid Bhawan hotel)
To Delhi, fly home.
Questions:
1. Overall, does this sound reasonable? Or is trying to get out to Jaisalmer and back maybe too much?
2. Assuming we do go to Jaisalmer, does doubling back to Jodhpur, then to Pushkar, make sense as a way to get ultimately to Jaipur? Was thinking of Bikaner or someplace else but trying to avoid too many hours driving in one day.
3. Would you agree that it will be easy to pick up cars and drivers as we go?
Many thanks for all suggestions.

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