Mauritania is the least of your concerns. We just rode through Mauritania last week and it was totally fine. Checkpoints yes, but they are all really friendly and no problems at all. Just have a preprinted Fiche and it's a breeze. Took us 2 days of riding and the desert was beautiful.
No need for a Carnet so far in any of the countries we have passed through. We are posting as we go on "Ireland to Sth Africa on KTM 690s" thread.
Have fun!!!
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