My fav is driving down to Jim Corbett. If you want closer home, drive down the Taj Expressway and from the exit point, another 1-1.5 hrs ahead is Chambal River near Dholpur. It has a lovely heritage Raj Niwas Palace, a quiet red stone mansion. Quite a hidden gem! Can do a Chambal river Safari or visit ancient temples nearby. Or just chill at the palace, food is delish. Total drive is around 5 hours one way.