If you have ground clearance then the route is passable with a 2WD. You said you have a "van", I have done the route several times in Mercedes 207´s and 508´s, but I once went with someone in a VW T3 (1987) and he had more problems. A Hiace or Urvan is not as good either. If you have a chance then you can see the difference in ground clearance between these cars.
The road through Nioro is under construction and I dont know how it is but unless the Kayes-Nioro section has been redone then I think the easiest route is Kayes-Diamou-Selininkegni-Bafoulabe. Dont try to drive direct from Diamou along the river to Bafoulabe it is extremly difficult.
There is fuel in Kayes, Mahina, Manantalis, Kita, Kati and Bamako, other places I wouldnt really rely on it.
The part to Bafoulabe is difficult the rest is good dirt road.
The ferry in Bafoulabe costs 2,500 for a car but they will probably charge you 5,000 for a small commercial vehicle. These prices may have changed. DO NOT pay anything for crossing the railway bridge in Mahina. If there is an official charge then it is very new.
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