A friend of mine drove the 2WD route last December with a mercedes O307 bus. he was accompanied by friends in two Mercedes 4X4 trucks. he got stuck 6-8 times but on two occasions he said he may not have gotten out without the help of the trucks.
I know of two other busses which have made the route, one was definitly accompanied by a truck the other I dont know.
The route up to Atar has a couple of tricky spots, it may be easier to stay on the plain instead of going up to Atar.
Mauritanian trucks may be able to help you but they will probably charge a small fortune for doing this.
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