Explore the hilltop Amber Fort (usually open 8am–5pm) with its ornate halls, courtyards and excellent city views; consider the jeep ride up for small kids.
Head to Sam Sand Dunes for a camel ride or jeep safari and watch the desert sunset; many camps offer cultural programs and dinner (safari/camp activities generally run until ~8:30pm).
Enjoy iconic Mumbai late-night kebabs at Bademiya (casual) or book The Table for an upscale family dinner — both deliver memorable flavors to conclude your trip.