Welcome to the hubb Matt.
For a "wide angle view" Michelin 741 Africa North and West will get your entire trip on one page. For Morocco Michelin 742 is more detailed. The Gizi Map Mauritania is ok for the 3 major roads in that country (OSM maps I found particularly helpful on gps or smartphone) Further south I don't have any paper map recommendations I'm afraid.
A 4wd Transporter will be fine for the trip I think, if you pick your route well. You don't have to leave the tarmac much if you don't want to.
I met a Dutch couple in a truck in Zebrabar N Senegal. They had a Rottweiler and had experienced no problems (of any sort!!) Heat, and keeping the dogs cool, would be my main concern in a small van, but at least you could leave the windows open (with mesh guards) and not worry about security. Be vigilant when they're roaming free for local animals (wild dogs in particular) to avoid a nasty fight, or possibly rabies. That goes for you as well as the dogs;-)
Have a great trip!
Simon.
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