Dakhla etc.
As people have pointed out, no reason to look for a convoy. Also, the Musafir camp is rather impractical place to be without own wheels. Around the corner from to the long distance bus stop in Dakhla (in down town, on the corniche) there are a few hotels. I was there a year ago but the names excape me, perhaps the one I stayed at was as simple as "Sahara". Yes, I thnk that's it and there is another, further away, but that is a posh place. Once in one of these little hotels and once you let it be known that you are heading to Mauritania, a fixer materializes with all the details how to get to the meeting place of the vans/trucks/minibusses heading that way the following morning. It' s really simple, daily and cheap, too. These crummy wheels typically leave early and go to Nouadibou i.e. no overnighting or figuring out of new transportation at the border. Pay a bit extra to get a seat in the cabin, otherwise you'll have a rather claustrophobic ride inside a typically windowless cargo compartment. Dusty it'll be no matter where you are - get the turban in time!
Once in Nouadibou the onward traffic to the capital is straightforward & plenty.
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