I have travelled on this route early December 2013.
The road was good, only that bit between Kiffa and Tintane was not tarred.
Gas stations are a bit of a problem as not every station stocks petrol. Every time I stopped at a station I could see petrol and diesel pumps but always it was diesel only available, so get your Jerrycan ready.
There was petrol in Aleg, Kiffa and Ayoun el Atrous but don't count on this info as they might not have petrol. On the other hand you can get petrol from the black market at a little higher price. There was no petrol in Guerou.
With 350 km tank range you will be fine just top up every time you see a petrol station.
In Guerou there is a nice hotel called Saimpex in Marche Mahfoud. It is located right behind the market. Nice rooms, air conditioning en-suite and tv very clean with secure inside parking. In Ayoun el Atrous there is Aioun Hotel, en-suite, basic, but clean, with secure parking. You can also bush camp.
There was no police escort in Mauri.
There was police escort in Mali and still is, but I didn't need any. I think you probably wouldn't need escort on a bike, just make sure there is no room for pillion rider
.
Top up your tank at Ayoun el Atrous and head south to Nioro, the road is good. Then down to Diema, Kolokani and Bamako. Petrol available everywhere in Mali.
When it comes to hotels I just ask locals and they are always very helpful, and will show you the way, they can even ride/drive in front of you to show you the way!
Look out for camels and other animals and particularly donkeys
.
All info above is nine month old.
Cheers
Schenkel