I know several expats who are avid desert explorers and campers that are still in Saudi and would be good contacts. There are some Saudi companies that do desert tours, I could ask some contacts if you're interested in suggestions. Saudi was a fascinating place to live and explore, but they are still getting setup for tourism so it's difficult to figure out where to go or who to contact if you don't know locals or expats. Wonderful friendly people and my wife feels safer there than in any US city. If I was to pick one GCC country to visit it would be Oman. They haven't gone billionaire disneyland like Dubai, nor are they trying way to hard like Saudi. I don't have any contacts there, but we drove from Saudi through the UAE to Oman and back and no serious dramas and I wouldn't hesitate to fly to Oman, rent a car and explore on my own, though not off pavement. Other than close to my compound, it would always be a minimum of three vehicles before heading into the desert.I’d love to hook up with some locals and tour around that area of the world. I have no idea where to even start but it looks like a neat place.
I'm not sure the options of rental vehicles for the Rub if flying into Saudi. I'm sure we are persona nongrata in Tabuk after a trip that resulted in 4 flat tires in the 3 Tahoes we rented. More the fact we barely made our flight so told the rental company we'd leave them with the keys in them by the departure gate, and the third one was still in the desert, but they'd be back around 3 am
I did most of my trips on the Eastern part of Saudi but did get to both the NW and SW corners which were amazing trips. One of the most memorable was visiting a coffee farm in site of and 3 miles from the Yemen border. The poor Hundai rental car barely made it up those steep roads.
As much as I wanted to go out in the desert with Saudis and worked and befriended many of them, somehow it never worked out.