UPDATE: I arrived in Moka, and drove to Aden alone. I was able to get a travel authorization in Aden from the police building just across from the Aden Hotel. Then I drove, and was escorted by military from the first checkpoint all the way to Mukhalla (600km). They all ask you to pay, but you can just say you have no more money. From Mukhalla to the Oman border (600 km again), I went without escort.
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