if decent tarred roads are important to you then the road from bamako in mali via sikasso (mali), bobo dialasso (burkina), Ouagadougou (burkina), Paga (border crossing Ghana / burkina) to aflao (border port ghana / togo) is tar all the way. you will meet a few road works, maybe some diversions off to side of main road, but no dramas.
border crossing between mali / burkina, burkina / ghana are all fine. if you have a few words of french, are capable of smiling, you will be fine. I have crossed these borders numerous times, have never been asked for a single $. though i always 'dash' $1-2 for 'good service'.
slightly different at aflao / lome border post. much busier, more hassle. but nothing scary.
no experience of benin as yet.
nigeria is a great place, dont let anybody tell you different. yes the cops will shake you down a bit more than other places. but go with the flow and you will be fine. dont take the 'moral high ground' when asked for a few quid. you are not trying to live on their wages...........when they get them that is. keep a sense of humour, stress what you are doing is for charity and you will be fine.
but comments by other hubber about the delta region are all valid. that area is in turmoil right now.
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