There are several RRs about Morocco on ADV. Both Pyndon and Walter Colebatch have done them - in the past couple of years. IIRC, Pyndon was originally going to head into one of the countries you mention and had to abort.
Walter's from 2011:
Pyndon from 2009:
Originally Posted by XC Rider
Damn Todd, that made my blood pressure rise just reading about it! Glad it's all sorted out (for the time being). Say, do you know anything about Algeria, Western Sahara, and Mauritania? Especially safety wise for a person traveling by motorcycle? I'm starting to put together my itinerary for next summer, and I was thinking about checking out the Iberian peninsula (Spain & Portugal), and figured I might take a ferry and go to Morocco just to say I've been to Africa on a motorcycle. Then it occurred to me that Dakar is just a little bit farther down the road. Only thing is I'd have to traverse through either Algeria, Western Sahara, and Mauritania. Any thoughts?