Never was asked for IDP in any of those countries. In fact I've been asked only once or twice for IDP per around 95 countries of travelled in over 250 000km and all continents except Antarctica of course. It's good to have it but not so important.
Nagorno-Karabakh is a fantastic place to experience, highly recommended! Take the small road out heading towards Lake Van. Not many people know about this, great scenery.
On entering Karabakh from Armenia you don't need to do anything in advance just get the permit slip from Stepanakert and tell them not to put it into you passport (knowing how agressive the Az officials can be toweards the tourists usually they don't put it in the passport anyway).
Not sure if it's changed, at least on June-August 2016 the Azerbaijan had EURo-4 restriction on motorcycles. If you had an EURO-4 or higher motorcycle you could get the proper 30-day import. Less than that it's 72 hours permit only, so most overland MC travellers are limited to 72 hours like we were. There's just a fine of couple of dozen dollars per day on exceeding it, so it's not a show stopper if you want to look around more.
Of course don't say a word about Karabakh visit on Azerbaijan border (you will be asked directly for sure and you never were there). Seeing the Armenian stamps in our passports the very first thing they said very seriously and loud to to us at the border that Armenia is their enemy. We nodded, but they still searched our bikes, riding gear and luggage throughout for any Armenian or Karabakh souvenirs etc as they explained. Interestingly we never experienced such suspecting attitude in Armenia or Karabakh. On exiting Azerbaijan the officials were angry because we had stayed longer in Armenia than in Azerbaijan, we hinted them about the 72-hour stay limit, they were very confused and couldn't believe it but said next time contact them directly, pay a little and they'll extend it to full 30-days (illegally I guess?).
Azerbaijan is an interesting country in itself, but the stay limit can be a problem for MC travellers.
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