Reach Udaipur and check in to your hotel.
Start with jagdeesh temple, it's the famous temple.
From jagdeesh temple City Palace is at walkable distance. City palace will take 3-4 hour tour and
would take half of the day as it's huge and awesome as well. From city palace you can take a ferry ride to lake pichola where you can see the Taj situated between the lake and takes you to jagmandir Island palace.
Evening go to bagore ki haveli for the folk dance which starts at 6, make sure you before 5, as the tickets solds out if reached late.
After an evening of dance and local folk song,
Relax yourself at the gangaur ghat which is walkable from bagore ki haveli.
Start your day with a refreshing breakfast and head towards dudh talai , also you can enjoy a rope way to the temple situated in the mountain.
You get a breathtaking view of dudh talai, lake pichola and entire Udaipur from here.
You can also go to the wax car museum from there.
You can rest in the afternoon for a while.
Evening (around 4-6) you can spend your day in the saheliyon ki Bari, which is a park and famous for its flower.
For some local shopping you can go to Gandhi bazar, bapu bazar, where you get all the local items from baandhni to Rajasthani jewellery.
Take a cab n head towards sajjangarh palace. Opposite to the The Palace there's a sanctuary where you can go and see the sanctuary animals.
While returning from sajjangarh palace you can see army area too.
In the evening you can have a kadak chai sitting beside fatehsagar lake and enjoy the peace that it gives. If you reach by 4-5 you can do boating too.
Note:
Avoid taking any packages as it'll cost more.
Also avoid the local rickshaw wala's as they'll loot you. Better book an Ola or Uber ride.
All the heritages are nearby to each other and in 1-2 days you'll get familiar with the road. You get out of the hustle bustle of a fast pace life and relax here.
In all this trip will be worth every penny of yours and you'll get the royalty that our country had.