We went by our own SUV from Gurgaon to Jodhpur.
Ist night stay at Bikaner
2nd night at Jodhpur- Tents in Desert
3rd night at some place I don’t remember
Nothing much is there in Bikaner- one coffee shop is fine. Hotel Ananda was fine.
Tents stay, camel ride to sand dunes, sunset, cultural night at Tents are fine.
Winters are best to visit as it would be difficult in summers.
From Jodhpur to Longewale post can be covered. You would be seeing longest roads there as well as sand dunes all around and wind mills .
On out return back, we visited Salasar temple and then back to Gurgaon.