Day 1: Arrive in Udaipur, visit City Palace, Lake Pichola (boat ride), Saheliyon ki Bari.
Day 2: Udaipur sightseeing (Jagdish Temple, Fateh Sagar Lake), optional visit to Nathdwara.
Day 3: Drive to Jodhpur (4-5 hours), visit Mehrangarh Fort, Jaswant Thada.
Day 4: Jodhpur (Umaid Bhawan Palace, local markets), optional zip-lining at Mehrangarh.
Day 5: Depart from Jodhpur.