There's no need to skip Armenia or Azerbaijan, you just need to do it in the right order.
Since Armenian borders with Turkey and Azerbaijan are closed, your best option is to simply add Georgia to your list.
Enter Georgia from Turkey, then turn south to Armenia, make a round trip and return to Georgia. From there continue east and enter Azerbaijan and then south towards Iran.
Make sure you don't visit the disputed territory of Artsakh (Nagorno Karabakh) from Armenian side, since any trace of it in your passport will cause Azerbaijan to ban you from entering.
Keep in mind Azerbaijan has very restrictive vehicle import rules and they only give you 3 day transit with your own vehicle (I'm not 100% on this, its based on several reports from various adventurers)
Also, several countries on your route will require a "Carnet de Passage", namely Iran, Pakistan, India and Nepal.
Hope this helps.
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