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Both are beautiful for family trip...
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Udaipur has more sight seeing options than the other 2. The other option is Jaisalmer via Bikaner can easily involve 3-5 days and will be fun in winters.
I would suggest you to go for Udaipur trip as the weather is pleasant and currently all lakes are full. you can book a lake view resort and hotel and there are many places to visit in to cover in 2-3 days trip.
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Udaipur would be amazing. but super cold at the same time so carry a lot of winter wear
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I think you can find answers yourself. You need ask these questions in sequence from yourself and to your family. 1. why are going on vacation?
2. ask interest of your kids like wild adventure, full of activities or lavish trip.
3. get voting done with in your family members. I am sure you will able finalize the destination.
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Udaipur is better option please try Udaipur because it's best in winter to visit it.
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