Do not worry about entering sengegal with the car. The topic has been covered extensively in this forum.
In short: the rule is only enforced when you come from the northern (Mauritanian) border, and even crossing this border with an old car is usually possible without a carnet, either you take a custom officer on board, or you do it the African way and pay a bribe (up to 100 Euro) for an temporary import permission (Laissez-passer).
I personally entered Senegal from Mali, the custom officers asked about the age of the car (and where astonished), asked if we have a carnet (we did not) and issued us a Laissez-passer for the offical price (which I do not remember somewhere between 5 and 15 Euro) the whole procedure took us around 1 hours, during which we visited 4 different offices.
Hans
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