The asfalt over Ayoun el Atrous "Route d'Espoir"is still the fastest route, Senegal takes days extra, and the border passage is costly and not funny.
If you stay in hostels and don't drive after dark you will be ok. Mauretania has been safe since 2011. Stay in Ayoun el Atrous and leave early in the morning, you'll be in Bamako by night, unless the Malian border guys slow you down.
Three weeks is plenty. It can be done in a week.
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