Will you first go to the Altay and then come back to cross the border?
Because if you take the straight road from Finland to Barnaul and then from Barnaul to Semey, you won't have seen much Altay....
To enter KZ: Take the Zmeinogorsk/Shemonaikha border, it's smaller and quicker than the bigger one from Rubtovsk to Semey.
3 weeks is perfectly doable but then I didn't take that road as I was more interested in seeing things so we went early into KZ and skipped the M51... not much to see...
If you make a rough planning of 200km a day for 6 days a week (=1200km/week) for a long trip, you should be fine. That's how I do it for Visa planning. Now we even slowed it down a bit depending on where you are and what you want to see/experience.
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