HI ,.
Yep , you can clear -legally  - the vehicle's entry from your passport in any custom's office.
Assuming that you sell it .. you go with the buyer ./. and for -I think- 200 Euro they remove the entry .. leaving you free to exit the country . Obviously these 200 Euro is paid by the buyer .. but be cristal-clear while specifiying this to the potential buyer
IMHO , Selling a vehicle in Mauritania is definitely not a good idea. If you can get to Mali or Gambia you can sell it way off more easy -no passport details-
Good luck
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