Yes, you can rent a motorhome caravan for adventure tours such as:
1. Full-day sightseeing tour of Jaipur with a guide
2. Same-day trip to Agra via Chand Baori from Jaipur
3. Same-day trip to Agra via Fatehpur Sikri from Jaipur
4. Same-day trip to Ajmer & Pushkar from Jaipur