You may look forward to following Tour plan to cover all desired places:
Day-1: Arrive at Jalgaon Railway Station, Night halt in Jalgaon Hotel
Day-2: Jalgaon to Aurangabad by road, City tour, Night stay in Aurangabad
Day-3: Aurangabad to Tadoba, day tour of Tadoba, night stay back in Aurangabad
Day 4-Aurangabad to Ellora caves, Ellora to Fardapur, night stay in Fardapur
Day 5- Fardapur to Ajanta caves, ajanta tour, return to Jalgaon then train
In other words, you could complete tour in 4-5 maximum days. Let us know if any specific assistance required.