Here’s a slightly different angle to this question: what effect, if any, would the political stability of North Africa have on the west African states - lets just call it Ghana for ease, even if its not necessarily the kingdom that would be founded - in a scenario in which the camel is introduced earlier?
Consider that, if the camel were introduced to the trans-Sahara routes around AD 300, that gives this trade about a century under Roman rule, before a century of Vandal rule, then back to Roman rule, until things gradual evaporate to the Arabs, who then break apart in the region into a variety of regional states.
If the trade routes are established during the height of the Roman Empire, or even before, such as during the Carthaginian era, where there was one major state in the region, and a more unified Mediterranean trade network, would that have much impact on the Saharan trade routes?