After much research for an independent driver (our preference due to the cost savings), we hired independent driver, Pankaj Singh, based on Paul C's positive experience posted on Tripadvisor:
Unfortunately, that thread has been closed to any more replies, so I'm starting a new thread about my positive experience.
We were a family of six traveling together (6 adults and two children) along with 5 carry-on suitcases. We had a very pleasant journey (Delhi-Agra-Ranthambhore-Jaipur) with Pankaj Singh in his 2012 AC Innova with luggage carrier (critical for our party size). As we are currently living in Bangalore, we will definitely use him again for our October 2014 trip (Udaipur-Jodhpur-Jaisalmer). He will now be the driver all family and friends use when they visit us in India and want to head up to Rajasthan / The Golden Triangle.
Should you decide to use an independent driver for your North India travel, contact details are as follows:
Feel free to PM me with any questions or if I can help with your trip in any way.