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Planning a trip to Chennai - Mahabalipuram - Kanchipuram - Thiruvannamalai

Hello all,
Looking for trip plan, hotel stay, and places to visit suggestions for a family of four (including 2 senior citizen parents)

The current plan is to book flight to chennai, get a self-drive car and go to Mahabalipuram.
Day 1 - stay in Mahabalipuram
Day 2 - Visit some places / temples and go to kanchipuram by evening, checkin at kanchipuram
Day 3, 4 - Visit around kanchipuram
Day 5 - checkout and go to Thiruvannamalai, checkin to hotel
Day 6 - Visit around kanchipuram
Day 7 - checkout, go back to chennai and get the return flight

Looking for suggestions to stay in Mahabalipuram, Kanchipuram, and Thiruvannamalai.
Also please suggest some not-to-be missed things to see in these places, things to buy, or places to eat.
Food preference: Vegetarian (preferably pure veg, without onion and garlic)
 
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