My Last visit to Rajasthan with family is one of the best visit i have. Rajasthan is well connected with trains. So i recommend to visit various cities by train(Cheap and best). Jodhpur is famous for fort, UmeedBhawan, markets and i like the small tea shops near sardar Bazar. Jugnu auto (like TukTuk in bangkok) is the best way to travel in jodhpur. In Jaisalmer Living fort is the must to visit place, and i recommend to take hotel in the fort. hotels in the fort are small but it is the best place to see original jaisalmer.
sunrise at garidgar lake and sun set at Sam Dunes are also worth watching.
Kuldhara village also known as Ghost village on india is around 20 km from jaisalmer. you can listen 100 of stories of ghosts. Each one is very interesting.
aam bagh and khas bag also popular places in jaisalmer. A
Temple near Bikaner is also famous thr are huge number of mouses in the tample .
You can see forts in almost every city of Rajasthan.