Hi we did the trip Egypt to Sudan 2 years ago and were NOT allowed to stay with our car but met many people coming the other way who WERE allowed. Maybe it has changed since then. On the plus side my experience of Egyptians is that they will try anything in their power to swindle you/rip you off/cheat you etc. but never steal from you. We didn't see our car for 4 days after hopping onto that deathtrap of a ferry but it was fine when the car finally did arrive. Barges are not that safe either - a week after we crossed one sank to the bottom. Bring a tarp with you if going on the ferry so you can stay up on deck (not as smelly) and have shelter from the sun. Also, it is likely only you will be driving it on and off the barge so you can lock it as we did.
Rich
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