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You can take a bus to Tirupati, from there to Kadapa and from Kadapa you will get local Buses that ply.
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You can easily take a train from Chennai to Gandikota, the expense of around 1000-1500 you have to bear. It will take you aprox 7.5 hours for the journey. Please hit upvote if you like my suggestion.
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Take a train from Chennai to Kadapa. From there, there's a direct bus to Gandikota.
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From my experience own transportation is the best way to reach gandikota from Chennai especially bike. Otherwise u can travel Chennai to Kadapa (train), Kadapa to jammalamadugu (bus), jammalamadugu to Gandikota (auto). There is a direct bus from kadapa to Gandikota (timing buses) For more Check my blog.
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