The road from Iringa to Dodoma is not good at all, it is not paved and is a badly rutted dirt road. In addition, there have been reports from time to time of bandits on this road; so use a lot of care if you take this road.
I would suggest that you travel Northeastward from Iringa to Morogoro (through Mikumi NP), then continue Eastward (at the Morogoro roundabout continue straight through past the bus station, the BP station, and the tobacco company) to Chilinze (about 100km West of Dar) then turn North (weight check as you turn the corner) and take this road to Segara/Tanga turnoff, Same, Mwanga, and Moshi. This way it will be paved roads all the way and they are relatively safe roads. I've traveled this route often, and I've also traveled the Iringa/Dodoma road. Good rest stop at the Morogoro roundabout (restaurant at bus station up the hill), and at Segara (decent restaurant on West side of the road just before the sharp turn left).
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