Just completed South Africa to Morocco as of today so recent experience: Did Mali up to Timbuktu, great drive and enjoyed it there. Up Mauritania through Nouckchott then on up to Choum (good challenging piste driving, very rough and lots of floodwater) where I put my truck on the train; hellacious trip across, but I am a train nut so it was worth it to me. Note of caution on the piste route across, it is very isoloted and friends got stuck 9 times in their Landy on crossing and didnt pass another vehicle in 650 km - they are not usually cautious travellers but advised not doing it without another vehicle alongside. Lots of police roadblocks in both countries telling us to be careful on our travels but no need for escort and absolutely no issues encountered anywhere (and did all of Mauritania solo as wife had by then returned to UK).
Enjoy it.
GB
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