Even though seeing the Taj Mahal through the fog can be considered an experience in itself, I would recommend to visit the monument when it's sunny. It was a road trip from Delhi for me, and took about 3 hours to reach by the Yamuna Express Highway. There are numerous hotels catering to every kind of budget, so staying in Agra won't be an issue. I stayed at a hotel which was about a minute's walk from the South gate. We could see the Taj from the rooftop, but again the fog got in the way.
I would recommend you try a glass of their full cream milk and pethas. Agra is also famous from leather, and tiny marble souvenirs.