Hello,
I booked a tour guide and car via Trip Advisor.
they all listed tours from Delhi, but I reached out to the guide directly and he was able to accomodate our needs.
The car is $40 usd and a private tour for the day was $100. Money well spent in my opinion - I'll know more after this weekend when I get there
I used toursbylocals and my guide is Rizwan.
If you are going later I'm happy to check back in and give you an update and any other info I may find.