We arrive 7pm on 12/28 and leave out of Mumbai on 1/4. Is it reasonable to see the Taj Mahal and have a Safari? What would that Itenerary look like?

Also, do we really need to spend much time in New Delhi? Would it be crazy to hire a drive to take us direct from the Delhi airport to Agra?

I'm having a lot of trouble finding nature reserves that are easy to get to. It seems like they will generally require multiple trains and 4+ hour car rides.