Just wondering why are you missing the opportunity to visit the great himalayas. I think you should take some time out to visit the hill stations. I am sure you will love it.
You can take an early morning cab to agra from delhi. New Express way is been made and surely you will enjoy the ride and can take some good picture on the way too.
Road conditions are good in himachal . Travelling on bike would be fun but tiring. You would love the most in old manali, so race yourself to manali then you can visit other locations on your way back..
Have a safe journey.
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