Is Jaipur the city itself walkable / enjoyable for a tourist to walk around? Are there hotels in the city with outdoor pools (the higher the better)? I have the JW Marriott as a fall back but wanted to see if anyone have other recommendations.

Also can anyone recommend any private tour guides for Jaipur / Rajasthan? I see the last thread on this was from 2015 and wanted to see if there are updates. What are reasonable prices for day trips?