3 week road trip

Hello! My wife and I plan to take a 3 week road trip. Our plan is to rent a car in Marrakech and drive to Erg Chigaga. We would leave our car in Mhamid for 2 nights and take a 4x4 into the desert. We are struggling to find tours that depart directly from Mhamid. All tours seem to depart through Marrakech. Any advice on leaving the car for 2 nights in Mhamid would be appreciated! Additionally, are there tours we could find the day of once we arrive in Mhamid?

After our time in the desert, we plan to drive from Mhamid to Agadir and up the coast. Does anyone have a suggestion of a place to stop overnight in between Mhamid and Agadir?

Thanks in advance!!