The deceased were identified as Hardeenram Jat (35), a resident of Nagour district, and Prakesh Chandak (35), from the Gajner area of Bikaner district, Kunahari police station CI Srichand Singh said.
The injured were identified as Dinesh, Hemraj, Gourav, Sonu and Shubham, all around 22 to 23 years old and residents of Baran district, he added.
A case of negligent driving was lodged against one of the drivers and further investigation was underway, Singh added.
The bodies of the deceased were handed over to the family members, they added.
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