Should be OK but the customs might try to pull you on it. They'll probably say it's illegal but they'll "try to help you....etc etc ..."
Main crossing on Kaolack-Banjul road has become tiresome/unfriendly/aggressive, crossings from south Gambia are far more relaxed.
If you're driving something that looks like an "overlander" i.e. a fully equipped Landie or whatever it's no problem. On the main crossing, first thing in the morning is the best time.
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