I dont think you can do it with very little money. Good camels are expensivre and valuable out there.
I've received a lot of camel info recently for and can tell you for a few months travel it will be a few thousand dollars to run a some cams (buying is better, long term). And wandering from one country to another is not so simple.
Better to do a few weeks in one country, renting a camel and guide etc to see if you like it.
Mauritania is a good good start (eg Atar to Tidjikja - read: Peter Hudson 'Travels in Mauritania') not as touristy as Alg or Niger (unless you know them well) and more interesting than Mali (away from the Adrar des Iforhas). Or try Sudan.
Ch
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