This hotel organises trio in the Sahara as you wish, from a 2hours camel ride to a full week in the dessert called Méharé.
They are very friendly and obliging.
We spent a night in their camp in the Sahara and it was a great experience, and it did not break the bank as it was really resonably priced.
Star gazing in the dessert is a must, even if you are not into astronomy. What a sight.