see www.plymouth-banjul.co.uk they are traversing senegal in hundreds of wehicles much older than 5 yrs. I was one of them last year. OFFICIALLY you cannot enter Senegal. What customs do - they set up a conwoy for your wehicle from border to border, and charge up to 60 eur for that. But go through DIAMA point, avoid ROSSO.
Another story - Mali Senegal border neat Tambacouta (or smthg similar) - Senegalese so welcoming, not checking wehicle documents at all. Source for this info - Paris Dakar journalists, traveling on their own wehicle.
This year I am again going to west africa - wont have any carnet 
Good luck,
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