The old city, including the fort and the major havelis, is compact and best explored on foot. The lanes inside the fort are narrow and steep in places; a good pair of shoes matters more than a map.
For sites outside the old city — Gadisar Lake, Bada Bagh, and the further desert sites — auto-rickshaws are the standard option for short trips. For Sam Sand Dunes, Kuldhara, and the border area around Tanot Mata Temple, hire a jeep for the day. Most guesthouses can arrange jeep hire; agree a price and itinerary before you set out. Full-day jeep hire covering the western desert runs to around ₹2,500–3,500.
Bicycles and motorbikes can be hired in the town, which works well for the nearer sites. The roads to Bada Bagh and Gadisar are flat and paved. Beyond the city limits, the landscape is flat and the roads generally good, but remote and without shade — take water.