FEI: Camel talk is welcome here - it's the Sahara forum!
1. getting permits to get into Darfur (where the route originates)
I imagine these days it would be quite tricky...
2. the reaction of the Egyptian authorities after you cross the border without a stamp
If you mean coming into Egypt or leaving? Get stamped in the first town whichever way you go - on a camel what more can you do but as you know Asher did not manage it.
3. how often the caravan travels and the availability / difficulty of joining it
I think you got the wrong end of the stick - its not like the 'in-country' salt caravans of Niger and Mali - the days of the Darb are long over (although plenty of illegal lorry traffic comes and goes from Libya, often taking camels to Libyan restos).
Track down 'Anita Baaijens' on the web - a Dutch woman who has travelled in the area (but not so helpful IME).
Here's something new I found vaguely in the area:
http://www.theexplorerschool.com/Dak...eItinerary.htm
and we're camelling a recce in Algeria this November - contact Simoon travel.
Ch
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