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You can land either to Pune or Mumbai airport if you coming by flight. These are the nearest. When i visited these places, we didn't booked any package. Just booked a hotel in Shirdi for whole family and then started visiting nearby places by a tempo traveller, as we were a big group. You can easily commute by road to Ajanta Ellora caves, shani shignapur, Trimbakeshwar, Bhimashankar n many more. We visited all above places, its worth the visit :)
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