Yes it's a route we've done regularly - mostly driving 17 seater minibuses.
It's single track from Lochaline but with long sight lines initially. To be honest, I don't find it a hugely scenic road until Loch Sunart itself finally comes into view from the high point.From there, the single track road gets much windier with lots of bends (short sightlines) so watch this section as there is always ferry traffic coming the opposite way!
It's a wonderful drive from Salen to Mallaig itself, on mostly good road, some single track but lots of normal carriageway too. I'd highly recommend it.Relatively quiet.
More scenic in it's early section is the Tobermory - Kilchoan ferry as you then travel the (incredibly) winding and pretty narrow single track from Kilchoan to Salen which joins up with your proposed route.BUT - with the big vehicle, it might not be such a comfortable drive.
If you are confident about driving your motorhome on single track roads, and especially about reversing into passing places, then it will be fine. It's a much better route than going all the way round via Oban.
No I'd definitely go for your chosen route which takes you through some of wonderful Ardnamurchan. It is really beautiful and much quieter and 'off the beaten track ' in feel and lovelier again IMO, than simply going from Oban through Fort William then west (where the two routes meet up at Loch Ailort).
If you have sailed from Oban you will have enjoyed what I think is the loveliest ferry crossing of all the routes but stick to your plan. Sorry if I put you off the first bit of the Lochaline route!
You will obviously be OK, Ian - sorry to suggest otherwise. I was once stuck behind a (German) campervan on the narrow winding road on the west coast of Mull, between Dervaig and Ulva Ferry. Despite having driven all the way from Germany, the driver had not yet worked out how to reverse.......... :-O
That did make me smile
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