Few things.
1) If you are making a Jaisalmer trip, them make it all about Jaisalmer. Dont focus too much about Jodhpur or other places.
SAND is the most important part. Rajasthan is full of forts. Full of Palaces.
But the ONLY place in india with SAND is Jaisalmer.
And jaisalmer night scene is different than other cities.
2) I hate the jaipur > jodhpur type of busy highway. Too much traffic. Not enough speed, And speed GUNs every 50 KM.
We prefer other back side single roads like Bhiwani, Bikaner etc. You can stay above 90KMPH on undevided roads.
If no fog, I can do Gurgaon to Jaisalmer in 13 Hour max in one day. Or best to do night half at pokhran. Or even the KHATU route is also good.
FYI, I did not like bikaner as fort in bikaner is not worth seeing.
so I would make this trip more about sand. And would do jodhpur some other time as Jodhpur have 2 day worth of things and they are really nice.
1 > Gurgaon to Pokran 11 Hours. Night halt at pokran (RJTDC hotel)
2 > Leave early and reach directly at SUM sand dune camp. Select any camp (But include jeep and camel ride in package). Head to CAMP, but cover KULDHARA and LAKE and other tourist spots on the way.
There is no point reaching the camp before 3 PM.
Enjoy sports and sand in camp evening and night.
3> Cover boarder side, tanot etc. It takes whole day. Lot of driving. Stay night in camp.
4> Morning head to Jaisalmer city. Move to Jaisalmer hotel. Put luggage and enjoy palace and fort. In night enjoy some nice cafe.
5> Check out early morning and drive the GGN. U can reach GGN by 10 PM. Dont take jaipur road. Use back roads. At worst you can take a hotel for night on way, like Chome, Khatu, Bhwani etc.
If you are willing to spend some good money, check ITC Khimsar hotel. Nice mid way break.