The drive from Dubai to Musandam is the easy part. Two and a half hours of road, a border that never closes, and any car does it. What needs planning is what waits at the other end, because the best of Musandam has no road to it.
Jebel Al Harim is the best thing in Musandam that does not involve a boat. Three hours up a mountain track to fjord views, plateau farms and marine fossils sitting at 1,800 meters. The one question worth answering first is whether your car can make the climb.
Telegraph Island is a bare rock in a fjord with a ruin on it and shallow, calm water that makes it the easiest snorkeling stop on the route. The story about it sending men round the bend is folklore, not history. It costs AED 125 and needs a boat.
Musandam's best places are not evenly reachable. Some you can drive to, some need a 4x4, and the ones people come for need a boat. Drive up without booking anything and you get a fort and a beach, which is how most first visits go wrong.
Most guides to Musandam list attractions and stop there. This one carries the price of every activity, because we run them ourselves out of Khasab, and it answers the question the lists avoid: what actually fits into one day before you have to drive home.