The family of Hana Abdellatif and her five-year-old daughter Joud, who are from Mullingar in Westmeath, have confirmed that they have crossed the border from Sudan into Egypt.
Dr Abdellatif, who is a Gynecologist in Regional Hospital Mullingar, travelled to Sudan with her daughter for a family wedding.
On Saturday, as the conflict escalated, they decided to leave Khartoum and make the journey to Egypt by bus.
Hana's 17-year-old daughter Noon confirmed to RTÉ News that they had crossed the border into Egypt, but said that challenges remain, including mounting costs as her mother and members of her extended family attempt to travel to Aswan by bus.
Earlier speaking on RTÉ Morning Ireland, Dr Abdellatif said Irish citizens like her mother should have been given more notice of the Government's efforts to extract people from Sudan with the support of other countries from Sunday.
She believes this could have saved her mother, sister and those travelling with them from having to organise and undertake a perilous bus journey at great expense.
"It's disappointing that my mother had to be forced out and to find her own kind of evacuation when the Irish Government could have easily given bigger notice ahead of time as to what their plans were," Ms Abdellatif said.
She described how the bus broke down on several occasions en route to the Egyptian border leaving them "stranded in barren and desolate dessert areas with no food and no water."
Irish citizens in Sudan call for greater intervention from Irish Government
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Noon Abdellatif said better communication from the Irish Embassy would have "saved a lot of people the journey, the money and the danger of travelling through deserts."
"You don't know if you're going to get stopped by the RSF or the military.
"You don't know if the bus is going to break down.
"There are dangers in the desert from heatstroke. You're not guaranteed any type of safety at all."
Ms Abdellatif said her family had to leave in the middle of the night, travelling on a bus with a number of other local people.
She explained that her mother had been trying to wait until the Irish Embassy issued a statement about the evacuation of Irish citizens but the danger got too close to their house.
Ms Abdellatif said she hoped the innocence of childhood would protect her little sister from the horrors around her.
Ceasefire in Sudan appears to hold, civilians evacuated
'Real life nightmare'
An Irish citizen studying medicine in Sudan said his family has lived through a "real life nightmare".
Mostasier Ismail said he, his brother and mother decided to leave their home outside Khartoum after supplies ran low and fighting began.
"There was many clashes in my neighbourhood, even a couple of houses were bombed."
Fighting broke out in Sudan on 15 April between forces loyal to army chief Abdel Fattah al-Burhan and his deputy turned rival Mohamed Hamdan Daglo, who commands the powerful paramilitary Rapid Support Forces (RSF).
The 23-year-old said his family survived on rice, after being "lucky enough" to buy some before the worst of the violence erupted.
Speaking on RTÉ's Morning Ireland, Mr Ismail said fighting prevented his family from travelling to the rendezvous point to secure safe passage for Irish citizens.
They decided to travel by bus to Egypt, he said, adding that he hopes his family can travel to Cairo, and onwards to Ireland.
"Thankfully the process to cross the border was very smooth, despite the backlog of people who were attempting to leave Sudan.
"There were at least nine or ten buses going at one time, every bus consisted of 50 people."
Mr Ismail said he had not had a proper meal until his arrival in Egypt, since leaving Sudan three days earlier.
"The water we drank on the bus was smoking hot," he added.
