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Hello, I suggest travelling by car would be the better idea as you can enjoy the view during the journey well only by car. if it's just the journey then bus is preferable.
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Check out my Tripoto profile for details and preference of traveling to Ajanta and Ellora. Let me know if you have any questions! Happy Travel
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It all depends, if you have time and want to save money then you should go by bus or else go by car. Caves will take time and if you are interested then you must go Ghrishneshwar Jyotirlinga. (01 of 12 Jyotirlingas)
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Roads are very BAD from Aurangabad city to Jalgaon city. I'll suggest better not to travel in between these by road
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