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Best I would recommend to travel by train, save up money and time and explore in and around the cities you would be visiting
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You can go by roadways. they are safe, comfortable and cost effective.
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Hi Someshwar, Although travelling by car may seem to offer less hassle, taking a train would be much cheaper. If you are not on a tight budget, travelling by cab is a convenient option. Only go ahead with a taxi if you are comfortable being on the road for about 5-7 hours. To plan your Rajasthan itinerary more efficiently, you can refer to the guides on Tripoto: https://www.tripoto.com/travel-guide/rajasthan Hope you have a nice trip!
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If you're a budget Traveller go by train else book a cab for lavish travel experience but you'll miss the authenticity of Rajasthani culture
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Go for zoom car
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Not sure about Bikaner and Jaisalmer but you get rented bikes in Jaipur at a reasonable price.
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