You can now do Ausangate without a tent with a company called Andean Lodges.
To avoid altitude sickness, they recommend a 10 day itinerary:
DAY 1: FLIGHT TO CUSCO + CITY TOUR
DAY 2: SACRED VALLEY
DAY 3: TRIP TO MACHU PICCHU
DAY 4: MACHU PICCHU- OPTIONAL HIKES (SUBJECT TO AVAILABILITY)
DAY 5: VISIT TO HUANACAURE AND SAN PEDRO ́S MARKET
FROM DAY 6 TO DAY 10: AUSANGATE TREK
Download the company brochure from the link below. (PDF)
That looks pretty great to us. The 5 days, 4 nights on the trek itself costs about $1600 if you are in a group. Their guided treks run March through November.
If interested, email them at info (a) andeanlodges.com.