Hi Dopey,
1. You'll need an international drivers license. For some countries possibly some specials (apparently for Nigeria, although normal worked for me).
2. It depends on your nationallity. Normally yes, but plan a few countries ahead, it might be possible in this country, maybe not in the next. I had some troubels getting an Angolan Visum in Congo Brazaville, and met two southafricans that couldn't get a Moroccon visum in Mauritania (they had to ship the car and fly out in the end).
3.Don't know, never tried.
4. I think diesel. Additionally, you'll need less, and if no diesel is available you'll get around with fuel or even vegetable oil.
5. For most countries you'll need a local car insurance. Ask at the border. A medical insurance is a wise thing if you ask me.
6. Depending on how remote you are it will range between impossible (fix it or die) and very easy. In some countries, parts for your vehicle might not be available, and they might need shipping in.
The best way of learning it is doing it. I guess this forum is a good start. Try to find out which countries or difficult to get visa for.
I met a family in a ford transit in Algeria, and the car seemed to cope pretty well. One time they got stuck though and it took them 2 days to free the car. Any 4WD would probably got trough in one go.
Central Africa (the Congo's and Angola) are a bit ambitious in a 2WD van if you ask me. For the rest I don't know much countries where 4WD is really needed if you choose your route carefully.
Enjoy,
Rob
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