We visited in July, and contrary to warnings, monsoon is a good time to visit--- was cooler. The caves are about 2 hours from Aurangabad, and they are VERY worth the drive. We arrived about 10h and went to the view point higher, across the river. Then we walked down to the caves--- a gorgeous walk and view. We saw all of the caves-- and that took about 4+ hours, even at a good clip. Definitely plan the entire day here--- really worth it to learn about the paintings and sculptures. Plan a lunch, for ex boxed lunch from your hotel, as there isn't much to buy on site other than snacks/drinks at the car park. I've heard of people combining Ajanta+Ellora caves in one day, but it would NOT do justice to either location. One day in each site is really the best.
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