If you have time for one day trip while in Udaipur, the UNESCO-listed Kumbhalgarh Fort should top your list. This massive, medieval hilltop fortress is one of Rajasthan’s most important historical sites, and boasts the world’s second-longest walls — after China’s Great Wall — making it a must-see. Your tour includes round-trip private transport, a 2-hour guided tour around the fort’s palaces, walls, temples, and terraces, and time for lunch (own expense).

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