Travel in India, how?

Hi,

I am travelling to India in November for a couple of weeks. I am wondering what is the best way to travel the following distances

Delhi - Agra
Agra - Ranthambhore national parc
Ranthambhore national parc - Jaipur
Jaipur - Ajmer
Ajmer - Jodhpur
Jodhpur - Jaisalmer
Jaisalmer - Bikaner
Bikaner - Delhi

What is the best way to travel in India? By train or by car?
And do I need reservations for the train?
And how much time in advance would I need to buy train tickets?
What is cheaper, train or car and what is quicker?
And would it be possible to decide to take a car and just rent it on the very same day?
And is it possible to rent a car without driver?

SO many questions! I hope you can answer a few of them. Thanks very much in advance.

i think car will be better option.