Rajasthan road trip (Self Driving)

Hi All,

First let me begin by saying that this post is to draw from experiences from the well traveled and see how one can best leverage on their experiences and see things that are off the beaten path and hidden gems, things not necessarily covered by travel books. Things/places/eateries travelers chanced upon or that have become part of folklore and been passed down generations of travelers.

This post ISN'T about CRITIQUE on the itinerary as that's what I have seen seems be to the trend on posts in this branch. I always knew Indians love to criticize everything about the other person, tro be honest had never seen such a blatant, bordering on RUDE posting of replies to threads posted by the uninitiated traveler to India.So all the people who love to find faults in every single post, please refrain from doing so, as I AM NOT INTERESTED.

I am driving down with my partner to Rajasthan from Mumbai and all in all the trip (door-to-door) would span 11 days, starting on Dec 22 '12. The itinerary is as follows:

Day 1: Mumbai to Udaipur
Day 2: Udaipur to Jodhpur
Day 3: Jodhpur to Khimsar
Day 5: Khimsar to Bikaner
Day 6: Bikaner to Jaisalmer
Day 9: Jaisalmer to Udaipur
Day 11: Udaipur to Mumbai

I would really appreciate if I could get insights into the following:
1. Must-Do places
2. Can't miss restaurants
3. Hidden Gems (eg some underground library near Jaisalmer)
4. Festivals/things happening on those days in that city
5. Things I must take diversion for, enroute 2 cities

Any comments would be extremely welcome and appreciated, ofcourse, keeping in mind the constraints I have stated earlier.

Thanks,
Sid