A similar question was asked a few days ago.
A lot will depend on your experience of remote travel, off road in deserts. September can be very very hot, in 2019 we saw over 50 degrees in the Western Sahara, Mauritania will be hotter again.
You can do all 3 on tarmac roads and still have a good time although the return back north through the WS may be a bit boring as theres only 1 road.
Gandini is just publishing his new guide for Mauritania and also has some covering the WS that are a bit older. But inland WS isn't somewhere for beginners or solo travellers imho
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