I have done this trip, last year in April. It was an amazing drive, roads are super nice and you won’t have any issues on the highway.
We started around 5am from Bangalore and made our first overnight stop at Nagpur and we reached around 6-7pm. We made small stops in between as well. After reaching Nagpur, we went to a brewery, had some beer and in the morning again started at 9am.
Our next target was to reach Jhansi which we reached around 7pm. (here you should stop and book a stay)
When we reached Jhansi, we saw that delhi is only 6hrs away and we did the night journey which should be avoided. Road from Jhansi to Agra is narrow and at night a lot of drunk drivers and trucks are there. Once you reach Yamuna expressway then it’s nice but Jhansi to Agra at night must be avoided.
Anyways, we reached Delhi at 1:30 am next day and we were super exhausted. But overall amazing journey.