Going through Jaipur is totally up to you if you want to visit the city or stay there for a couple of days, but otherwise, the route that I am suggesting doesn't require you to go through Jaipur.
My suggested route from Delhi to Jaisalmer is to take the NH-8 towards Beawar, then NH-112 towards Jodhpur and lastly the NH-114 to Jaisalmer.
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