The road from Atar to Aleg via Nouakchott is good tar all the way, so take as long as you like. There are a few harmless checkpoints along the way. If you are in a group the piste from Chinguetti/Atar to Tidjika is not that difficult and incredibly beautiful.
The crossing at Diama is on top of a small dam or barrage, it's complelty safe for cars. Leaving Rosso it's about 90km of piste to Diama and on the Senegalise side about 20min on a very good piste (Nov 2001). I wouldn't spend the night in Diama though, the place is plagued with mosquitos.
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