Five days is a tight window for a state this big, so the honest truth is this: a good Rajasthan itinerary for 5 days means picking three cities well, not chasing all of them. We've watched too many travellers try to squeeze Jaipur, Jodhpur, Jaisalmer, and Udaipur into five days — and end up seeing all of them through a car window.
Here's the version that actually works, built around the pace real trips can handle.