We have been to Udaipur, Jaiselmer and Jodhpur. We planned our trip with Unique India Tours, and really like to mention that it was a really prestigious tour for us to Rajasthan. These three places were like a Royal gateway of the State. Accommodation, transportation and security, all were very well chosen and fulfilled. Unique India Tours take its responsibility at its best.
After dealing with several tour companies I booked with Unique India Tours as they were flexible in the itinerary, in particular that I wanted to end in Delhi (and not start there, as I had a night flight out) and wanted to include Udaipur and Jodhpur. So the tour went the reverse route of the standard Golden Triangle tours! Everything was went so well (except the monsoon interrupted a few times). Excellent, calm and considerate driver - I never felt unsafe on their chaotic roads.Can highly recommend them for your Indian tour whatever number of days or number of people (I was on my own and went for 9 days).