Me and my partner did this sunset safari with Pleasant Haveli and highly highly recommend! We were able to enjoy the same experience as the overnight safari but were still able to come back to the hotel at night and sleep and shower. They let us choose whichever time we would like to leave the desert so there wasn’t any pressure to rush off, despite the fairly long drive back to Pleasant Haveli. Our guides were fantastic (I’m so sorry but I’ve totally forgotten their names as we did this about a month ago!) and we laughed, joked, sung and ate with them. They were so friendly and accommodating and just genuinely want to make sure you are enjoying your time. The camels seem well cared-for, the dinner was delicious and the view of the stars at around 9pm was absolutely beautiful! They made sure they took us to a proper sand dune (sometimes the dunes other companies take you to aren’t so great) and the sunset views were breathtaking.
Only thing I would suggest to people booking this is that you bring some tip money. A young child came with us to take the camels back once we had got to the dunes (you take camels into desert and jeep back out), we only brought a small amount of money with us and he held his hand out asking for tip before he left so it’s clear it was expected. We then had no money left to tip the tour guides which was a shame, so bring some change, it’s worth the tip!
Out of 1 month spent travelling India this was the best thing we experienced and I could not recommend it enough.