Can't quite remember on the atlantic route what the mimimum was as having a 4x4, we were carrying more fuel so wasn't so much of an issue. It may be possible to do the whole route on your internal tank. Personally I would of through carrying an empty fuel can would be a good idea. Probably for the run from Western Sahara to Nouachott, you will end up meeting up with others. This is when you probably need the fuel and see if another vehicle can carry it. This means you wont be carrying the weight but you do have the option. If you don't have a fuel can then a bit harder to achieve. It would certainly remove the requirement to fill up at every avaiable point, this means you could leave fuel that doesn't look good quality, or if there is a shortage somewhere you won't get stuck.
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