It is treacherous to be there alone.Reaching last roundabout on the right side opposite sealine
beach resort you may find locals deflating tyres.Deflate your own tyres up to 18 psi and approach those locals,inquire if they are going to Khor al udaid.
Request them if if they can lead you to your destination,and don't forget to exchange mobile numbers and names.Some kind of recovery equipt is desirable like shackles and a sturdy tow rope etc.Enough water and food supplies too need to be on board.Don't forget to have a GPS with backtracking features.
I am confused with your word of caravanning (other then simple camping).If that is the case for sure you need a back up vehicle and an expert guide.
Make sure you don't jeopardize your dads visit by going on any misadventure.