It sounds like an amazing trip. I put out a general 'can you offer advice post' a month or so ago and the response was amazing. While I have no experience travelling in Africa (until next year when I will travel from Sudan to Egypt via camel) the general vibe, as I understand it, is "border crossings are a nightmare".
So I guess at this stage the best piece of advice I can offer would be to research border crossings: are they possible? Do you need a letter of invitation to get into a country? Is it safe? (most trouble happens at the borders I've discovered through my research), how much to get your vehicle across? . Egypt is apparently a paperwork nightmare.
Good luck! Stay safe and happy travels
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