The fixers will normally ask and get €10-20 per vehicle.
You can do it without their help, but on a busy day they may speed up the procedure.
Also, if there are any problems with your documents, such as vehicle not in your name or any bad stamps in your passport, they can help you.
Don't exchange more money at the border than you have to, the exchange rate will not be the best. When they were giving 360-380 ougiya for the euro at the border, you could get 400-410 in Nouakchott. You may need ougiya to buy gas before Nouakchott.
The alternative is bank machines in Noadibou, but that is a detour.
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