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Hello! Not aware about self driven cars. As per me the best route is by train. Jaisalmer express takes you to Jaisalmer from Delhi crossing Jaipur and Jodhpur entroute.
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If budget is not a problem then taxi and of your pocket doesnt allows then train is best convenient opt!
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Jaisalmer has to be road trip, drive down the beautiful roads and it will be an amazing experience. I visited there in 2014. Try out zoomcars, carzonrent etc. You will lot of options. These days the security deposit is also less.
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Zoomcar not available. I even asked some local travel companies. No car rentals available for jaisalmer. Cabs are out of budget ????