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We booked with Kumar a 5-day trip to see the Golden Triangle in a comfortable SUV that was perfect for the 4 of us. I did contact quite a few... read more tourist agencies, who were giving me solely "tourist prices" and Kumar's agency was the only one with more than fair ones. They were quite flexible from the very start and at the end agreed on a price and terms that fit both of us perfectly.
Sadly my decision making took some time, so at the end Kumar could not drive us personally, but Amit (our driver) turned out to be quite solid too. We had 3 government approved guides arranged in New Delhi, Agra and Jaipur, where only the one from Delhi was a real disaster - always pushing us towards some shops and touristy restaurants. But the other 2 were exceptional and we were quite happy with the whole experience.