The main reason people go to Jaisalmer, an ancient fort city, is to ride a camel through the rolling sand dunes of the Thar Desert. Some will tell you this is “too touristy”, but not me! I loved every bit of it. Although, I do hate to think that someone would come all the way to Jaisalmer and only do the safari. Jaisalmer has much more to offer, so give yourself adequate time.
There are loads of companies offering safaris and every hotel can hook you up with a guide. You can go as low as 500 for an overnight trip, or splurge like I did.
I went with Royal Hotel for 1500 rupees through the Khurri dunes. This was massively over my budget, but I had met a friend who had pre-booked with them and couldn’t change it.
FYI do not pre-book anything in India, especially tours. They can be negotiated. Some of the higher luxury options are to “glamp” in a ready made luxury tent.