Yes, we did this - they call it an 'inland desert safari'. We did it with Arabian adventures and it was great fun. They send out the driver to you, maybe with another couple in the back, and they drive you out to the desert. You can camel ride, sandboard, see the sunset, then go to the camp for a late swim and a BBQ and a shisha. All brilliant fun. We had Ibrahim as our driver so the dune-bashing was hilarious and exciting. Qatar is pretty boring and sometimes even a bit weird, but the desert safari, along with the Museum and the Souk Waqif at night, are highlights.
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