Well, it depends on your level of tolerance for 'adventure'. You can travel in India as westerners safely. Travel by rail or domestic airline is pretty modern at this point.
In India, finding the hotel and city to city transport is not the issue, its local travel that can be challenging. In large cities cabs and auto-rickshaws are plentiful. If you are at an airport or rail station, you can typically find an 'official' source for transport that will be safe. I've never had an issue just hailing a taxi off the street. Never go with anyone who is not driving an official vehicle. Guys promising you to show you a 'tour', yeah, skip that.
Once you are hooked into a hotel, they can set you up with drivers for the day or a taxi. Getting a car for the day can actually be very reasonable. Ask the hotel folks to help you get a fixed rate for the day. Tip the driver big. 99.9% of the time, your driver is not the owner of the car, is basically living off tips.
I fear I am a poor source for information about travel in India. My wife is Indian, so I travel with Tonto at my side.
