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You can see the highlights (Hawa Mahal, City Palace, Amer Fort, and a quick photoshoot at Patrika Gate) rushed in a day but 2 days is more comfortable and you can definitely spend 3 days going to secondary sights like the Royal Tombs, Nahrangarh Fort, visiting Chokhi Dani for a taste of the rural life, Galta Ji Temple, etc.
There are some very luxe hotels in Jaipur that rate in the top 20-25 in the world like Rambagh Palace or the Oberoi Vanyavilas among many other very high end hotels (Fairmont, Alila in Bishangarh, etc) - if that’s up your speed then it’s worth spending time to enjoy and explore the property as well which would mean longer - regardless of this, you should definitely stay at least some time at a heritage property (there are much cheaper options as well)
What’s ideal imo depends on your itinerary I.e., where else in India are you going. I imagine you’re likely starting or ending in Delhi which itself has a ton to see (highly recommend a guide and get recs from locals - don’t shortchange it) and will visit Agra.
If it’s your only stop in Rajasthan then I think 3 days is worth it - however if you’re also visiting places like Udaipur, Jaisalmer, Jodhpur, etc. then 2 days is enough since each of them have their own gems so some of the secondary sights won’t be as impressive compared to what else you’re seeing.
Depends where you’re coming from and where you are going. There are a ton of forts you may want to slow it down and make it 4 days 3 nights.
2 days is good I’d say. How long is your trip and how many days?
Pro
I stayed 3 nights during a rajasthan road trip, but 2 is probably okay. It just depends how much time you have.
Last trip to India did 4 nights Mumbai, 3 nt Udaipur, 3 nt Jaipur, 4 Delhi, 1 Agra and felt good about time spent in each.