Is there such thing as a guide who includes night drives between cities?

My friends and I are planning to hop around a few parts of Rajasthan, but because a few of them have fewer travel days, we're looking into sleeper buses to connect between the desert towns. We're also wondering if it's worth having a guide with us throughout the week. Is there's such a service for hire that includes a guide and also a dedictaed night driver between cities? We'd spend a couple of days between 2-3 cities.

This would be very different from our usual travelling style, but it's also everyone's first time in India in general, and I'm aware Rajasthan is so wonderful but can be a lot to wrangle if you're unfamiliar.

Appreciate any advice!