hiring a car and driver

hi.Me and my husband are going to india for the first time in april for 3 weeks.We´re landing in delhi, and we want to go to agra,jaipur,jaisalmer,jodhpur, udaipur,take a flight to kerala and then a train or car with driver to goa and flight back to delhi.
I've managed 2 or 3 days in each place(it's going to be rough but we can't choose less places than these.
First i've made the itinerary with overnight trains(to save us some time), but then i've read about the trains delays and got worried.So we're planning to hire a driver with car to go from delhi to agra,jaipur,jaisalmer,jodhpur and udaipur, but we only have 10 days to do this (with the train it would work fine because most of travels would be during the night and we could see the cities in the day).So my question is: is it possible to see all these cities in 10 days travelling by car?Thanks

Yes, it is possible. You will have more available time with a car and driver, and quicker to see around places. However you may have to shorten your stays in these places - the overnight trains would help you to stay longer, but my guess is your driving will be during the day so you will have to factor all this in.

If you managed by train to do all your bookings, it will save the cost of a hotel room for the night. Generally in April around Rajasthan you will not get long train delays, they are pretty reliable.

thanks a lot Aishah it's really difficult to decide what to do...my husband just doesn't care and says that he hates long journeys by car,but he doesn't love the trains too.He says we should go by plane but that's very expensive and we would pass our time in check-ins instead of seeing the places, so that's out of question.I'll think about what to do...

If you spend one night in Agra and two in the rest of the places (one of them you could have 3 nights) you then have 10 days - do your journey from Agra - Jaipur - Jodhpur - Jaisalmer - Udaipur. The last trip is the longest and you might like to use that 1 night to stop at Ranakpur to break up the trip. And spend 2 nights in Udaipur.