I found this option where in 3 days you could visit the golden triangle and decided to book it as i literally had just 3 days and was completely worth it.
My driver Mr. Ravindra took me through the 3 days, while a specific guide joined me in each city... all three (Himmat, Shyam and Ashuk) were very, very knowledgeable and supportive in terms of customizing the experience.
Do consider that since the cities are 3-5 hours away, you have only the morning to know the places before moving to the next one around 2pm. For Agra and Jaypur that was time enough, but personally I could have used another day in Delhi.
I did enjoy that the transfers were very calm with Ravindra, so I made up for the lost sleep, and the team made their best to push as many activities into each city as possible including local workshops where you can learn about their trades, but always respecting whatever time I wanted to spend in each place. Overall I would highly recommend it.