Hi, Sartoric,
I haven't contributed to this thread much since I haven't been to any of the places you mentioned so far - BUT I am aware of HACRA and used them in our trip 5+ years ago (oh, it's so hard to believe it's so long!). I wanted to have a day with them but our schedule didn't allow it - we ended up with a 2-hour camel tour through the Thar Desert. We also had a very simple lunch with a few of the people staying in the huts that was prepared by his wife. It's been 5 years since we were there, but I was very impressed with Gemar Singh, who is the person behind the organization. His operation is as simple as it gets and the huts were pretty basic. I don't believe there is any running water still so rustic is the name of the game. But a real love for the region and the people.

My notes from the trip report from 2013:
We arrive at Hacra, in the Thar desert, and meet Gemar Singh. He and his organization, Hacra.org, are impressive. He is a local desert guide, and describes his approach as ecotourism. He offers private tours of local villages, the desert, rural homestays, and has built a few huts at his home compound where tourists can stay. This is home to Gemar, his wife and son. There is no electricity, save for a solar panel, which charges his battery for his cell phone and his computer. But that’s it.
We arrive around 11:30 and are early for lunch, so we sit and relax.. A few goats are about. While we’re waiting, 2 young Australian women return, by camel, from an overnight in the desert. Now that is impressive!

A few photos from our visit:
https://cimg0.ibsrv.net/gimg/www.fod...4278fbb9c5.jpg
The very simple huts where travelers sleep


https://cimg3.ibsrv.net/gimg/www.fod...9640fb4d99.jpg
The family compound - there was no electricity except what he got from a solar panel!


https://cimg2.ibsrv.net/gimg/www.fod...0461dc1dc2.jpg
Gemar Singh


https://cimg4.ibsrv.net/gimg/www.fod...b3907bbad4.jpg
Schoolkids ran out to see who was crazy enough go riding on camels through the desert!


https://cimg1.ibsrv.net/gimg/www.fod...ba68d531ac.jpg
My favorite shot of the day! Gemar under the kissing camels!

A Variety of Options to Choose From
 

Hey
India is a very diverse country. You can get a lot of variety here. Like you can enjoy in the lap of nature near the woods, or at the hills among snow capped mountains, and most importantly you can taste the Indian heritage (India is known for its royal history).
I would suggest you 3 destinations all over the country, each of them is well connected via a network of roads, rails and flights.
Start trip with-

Destination 1- Visit Jodhpur, Rajasthan for its extensive historical importance, the hospitality of people and its rich culture. You can live in palaces where rulers of ancient India used to live. They give a feel of the royal era. You can explore the Mehrangarh fort, ride the flying fox, go for a camel ride in the desert and you must definitely try the Indian sweets there, Jodhpur is famous for authentic taste. For booking of palaces as accommodation (hotels), visit- WelcomHeritageHotels•com. You must stay in Jodhpur for at-least 2 full days to enjoy and take advantage of your visit.

Destination 2- Munnar, Kerela. The city is situated in southern part of India and is famous for its scenic beauty, that includes rich flora and fauna, hills etc. You must visit Munnar and enjoy staying in a tree house close to the nature. You can visit tea plantations and help the local farmers, they are very friendly, you can go for a trek or mountain biking in Munnar. Tourists also love taking an elephant ride in a jungle and exploring it. Waterfalls at Munnar are a must watch. Staying 3 days in Munnar will buy you enough time to explore the place.

Destination 3- Ladakh, Jammu and Kashmir. Visit here to witness the majestic Himalayas and snow-capped peaks. I would not describe Ladakh much, I would just say it is considered as Heaven on Earth. You must explore the place, experience the amazing hospitality and stay in a houseboat. Stay here for 2 days otherwise you'll fall in love with the city and would never wish to leave it.

Wow, thanks Paule ! I’ve been emailing with Gemar and think we’ll go with at least one night...no idea what our driver will do, but I guess we’ll cross that bridge later. It’s not cheap at USD $136 per night, but does sound authentic, and I really like camels. I asked M whether he’d prefer an excursion by camel or horse, he immediately answered camel....

sartoric,
One of the reasons we didn't do a camel trek in Morocco this year was our 2-hour trek in the Thar desert left us (especially my M!) with several weeks of, shall we say, "memories" that made it very uncomfortable to sit! But I would definitely consider a 1-night stay, as long as you are comfortable with a very basic set up. Did you ask Gemar about sleeping quarters for the driver? I'd imagine that there are places to stay nearby - he doesn't need to be in the same setting.

Agree with progol about the dubious delights of riding camels. I have ridden one in China, Jordan and Morocco, and firmly refused the opportunity the last time it was offered. I also chose not to do it in India, altough I did ride out into the desert in a jeep, watched others riding (in a sari, no less) and sat by the campfire.

Camel ride for a little while is okay. The longer safaris bring in train the discomforts already alluded to, unless one is a trained camel rider. Further, most of the camel drivers or desert guides are not fluent in English. Most of the trot is therefore passed in silence making it monotonous, if not boring.
Check the accommodations. Most of the low-budget places in India are suspect in my eyes.