I think you should ask the owner of hotel in Jaipur to give you the best way.

Sir You can ask your question and will be glad to answer

Both forts are on same route and you can visit both of them in a single day. If your car has a descent ground clearance (and you are a good driver) then you can easily drive to both places by your own car else park your car and can rent a jeep (or a vintage car) for to & fro ride. Cheers

Stop travelling for the time being, atleast for 1 more year

Yes, Wheelchairs would be ok. It's a big day out.

Please dont ride elephants, it is horrible abuse of majestic creatures. If you ever saw how they “tame” elephants in order to ride them it would make your stomach turn. If you want to experience an elephant up close visit a sanctuary, but riding them is keeping a disgusting business alive and well while torturing sentient creatures who as the old saying goes, “never forget.”