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Udaipur Day Trip with Car and Driver: Ranakpur & Kumbhalgarh - Questions

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I know that it's doable from Udaipur - any idea how long the trip might take? I understand that the road between Udaipur and Jodhpur is much improved.

Can I hire a guide at either of these places? Do I need a guide? My wife Jeane doesn't like to read guidebooks...

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