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Yes, there's govt bus facility from aurangabad to ellora caves and Mini Taj.
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Yes there are buses arranged by Maharashtra state transportation. https://kmholidays.in/mtdc-ajanta-ellora-caves-tourist-bus/
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Yes...but you need to start early
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There's no Hop-On Hop-Off services, I think. Just local transport connecting areas in the city. From Aurangabad, however, there are government buses to Ajanta, Ellora, Shiridi and such.
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Yes, but not for Tour specific. You have to change from one place to another.
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Not sure about the city site seeing, but Aurangabad Public Bus (MSRTC) To Ajanta Caves are available. Also, you can inquire about local sit seeing bus at the bus station.
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Tourist buses run in aurangabad
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