Leave early to avoid city traffic and make steady progress on the highway; expect around 7–8 hours driving to Vadodara with short stops. Carry water, snacks and a printed route/GPS.
Stretch your legs with a stroll in Sayaji Baug (Kamati Baug) if time allows — nice for kids/families and to break the drive monotony. Park closes around sunset.
Visit the Taj Mahal at sunrise for cooler temperatures, softer light and smaller crowds; the monument is open from sunrise to sunset (check precise sunrise time and ticket window).
Explore the UNESCO-listed Agra Fort to see red sandstone palaces, Diwan-i-Aam and excellent views toward the Taj; open 6:00AM–6:00PM (verify seasonal hours).
Afternoon/evening boat ride around Lake Pichola to see the City Palace, Jag Mandir and waterfront palaces from the water; boats run until just after sunset.
Visit the charming Saheliyon Ki Bari gardens and, if time allows, Bagore Ki Haveli which has a small museum and evening cultural performances (Bagore Ki Haveli performances typically around 7PM).
If you want a day trip, Kumbhalgarh Fort (approx 2–2.5 hrs away) is an option for a half/full day — otherwise, enjoy Udaipur’s museums or more markets.
Begin the long drive back to Mumbai early in the morning to avoid city traffic on arrival; expect ~11–13 hours depending on stops and traffic (plan driver rotations if possible).