As promised, this was an un-touristy experience. We took a jeep 35k into the desert; met Frank (the camp guide) and my 12 yr old camel guide. Then we sent off for dunes on a 1.5 hr camel ride (really, this is as long as you want to be on a camel). After the ride, my guide left me in the dunes for an hour by myself, until I was picked up to go to the camp. This sounds bad, being left in the middle of the dunes, but for me it was a very peaceful and spiritual experience. If you had your significant other with you, you could take this as a romantic moment to watch the sunset. After an hour, I was taken to camp, got some great food, and has a wonderful night's sleep under the stars. I never felt overly pampered and my guides always allowed me to enjoy the experience the way I wanted to. They didn't try to interfere with the experience, they just were attentive if I needed anything. It was exactly the kind of non-touristy trip I was looking for, and that's not always easy to find in India.
I would highly suggest going with Sahara travels; they really do care about their customer's experience. They give you the trip you want, not the trip that's the easiest or most common among tourists.
This review is the subjective opinion of a TripAdvisor member and not of TripAdvisor LLC.