Not sure about getting a lift with a truck etc. doing the run - but worth a go.
You will certainly be able to get Toyota and driver to do it (from any of the agencies in town), but it could be expensive.
Another possible is to check out the tourist campsites to the east of town, and find someone (French/Swiss/German etc.) who has a spare seat in return for some fuel money.
Depends a little on the experience you want to have!
One almost certainty is that any local transport is not going to want to do the Assekrem-Hirhafok section, so you risk missing out on the highlight of the TAM-DJA route.
Sam.
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