You don't need to get a visa before you arrive, but it makes things easier and they only take a few hours to get in Noakchott. Mali is very relaxed about such things. In 2 months nobody ever asked to see my vehicle document and I only showed my passport to 1 policeman in Sevare the whole time I was there ( I did refuse a few times though and they were happy enough about this when I told them my (adopted) Malian name - they kinda insist you have one - use Saidu Sissoko to avoid bean jokes).
Kayes is pretty crap for doing paperwork - the customs and police. If you have a carnet and visa its no problem - its FREE to get them stamped. And FREE to have the vehicle document extended by 2 months (I did this in 2 mins in Bamako - go to the head of Customs to do it).
Else if going via the south piste do it all in Bamako. At the borders they are greedy.
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