I went to the Golden Triangle with Exodus in 2018 and absolutely adored it. (It was the trip called "colours of Rajasthan" with an add-on for the Pushkar camel festival). I've been trying to go back to India for a while - in 2019 I booked a trip to Gujurat to take place in 2020, that was obviously cancelled and is now unavailable, but I'm off to the south of India later this year.
India is a big place - a bit like Europe is a big place! If you're travelling from one city to the next, you will spend a fair bit of time on the road. I've seen holidays advertised for 8-9 days - that is not enough time - we went for 2 weeks and the trip could easily have been stretced out for longer.
We stayed in mostly 3* hotels and tbh they weren't always great, but I would rather see some local flavour than stay in multinational chains.
I like travelling with small groups such as Exodus as you have a guide, you have company, it feels safe. Our guide was amazing and organised lots of things for us that weren't in the official itinerary, eg visiting the local cinema to see a newly released blockbuster - that was more like a pantomime with the audience shouting out, booing the baddies, cheering the goodies etc, great fun!
I don't think I'd feel safe travelling on my own in India. My daughter was there for 3 months as an independent traveller and she was OK, but she was travelling with her male partner, and she said would not have felt comfortable without male company. (I should add that I am also well used to organising my own trips and travelling alone in Europe, I'm no rookie traveller).
I found it all absolutely exhilirating and can't wait to go back.