I took this trip when I was staying at "Chhotaram Prajapat's Homestay" and absolutely loved it. We spent about 7-8 hours in total, driving out to the desert, visiting a beautiful temple in Osian, and then around 2-3 hours on the camel.
The camel trek starts on a village road, but soon you veer off into the arid desert for some wonderfully calm and beautiful sightseeing. We stopped at the camel guide's village for a cup of tea and rest before finishing the trek.
I opted to explore the desert folk music, which was really special. We went to a camp in the middle of the desert for some live music, a bonfire, and tasty food.
Would definitely recommend this to anyone wanting a proper desert experience!