I haven't been there, but your question really made want to go... This website, for example, looks incredibly tempting. They offer very flexible tours all over the country, and the pictures, especially from the Atlas mountains, are quite stunning.
I Hope there will be a user who has been there and will give you a better answer, because I'll be watching this one
Take look at www.bestofsahara.com, it is travel company that run by berber man from sahara. He is a wonderful man. All the best
Hello,I had a trip last October with this company based in Morocco.Their website is www.roughtours.com .They are so friendly people and they will make your trip wonderful.Hope you'll get a response from them
Other people asked questions on various topics, and are still waiting for answer. Would be great if you can take a sec and answer them