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I didn’t walk the pass, I did it on motorbike, which I think most people do. However, I don’t think walking would be a problem since the actual Ma Pi Leng Pass is less than 20 km, I think. I would think you could easily walk it in one day. My friends and I actually drove it 3 times in one day. You definitely don’t need a guide, unless you want one. As long as you have a map and/or map app on your phone. If you stay close to or on the roads then there won’t be any problem with following a trail. There will signs along the road, but you can’t really get lost if you stay near the road because the surrounding terrain isn’t walkable in most areas. I would recommend using the app Maps.me when you go. You can use it for directions even when you don’t have WiFi / cellular connection. The terrain will be variable with a lot of inclines/declines. The roads kind of weave in and out of the hills then go up and down rapidly in different places. As I said, I did it on motorbike, but I wouldn’t think it’d be a very challenging walk. You’ll either start the route from Dong Van or Meo Vac. There are plenty of hostels/hotels/homestats in both cities, but not much (or nothing) in-between while on the actual pass. We booked our accommodation maybe 24 hours in advance throughout our whole trip through Ha Giang and never had a problem getting space for 8. We always used booking or hostelworld. Overall, this is one of the most beautiful places that I’ve ever seen. It’s still untouched by tourism for the most part and it is absolutely breathtaking. If you go, you’ll understand why my friends and I went back and did it over again. If you got started early enough in the morning, I don’t think you’d have a problem walking the pass in one day with plenty of time to stop/rest, take photos, and enjoy the scenery. Be careful of the trucks! They do not slow down and many of the turns on the pass are blind. They do always beep their horns like crazy when they’re approaching a turn so you’ll know they’re coming but make sure you’re off to the side when you hear the beeping. There were plenty of times when me or one of my friends nearly got painted onto the front of one of their windshields. This is one of the highlights of Vietnam altogether and shouldn’t be missed! I hope that answered your questions, feel free to ask away if you have any more. Cheers.

We did it by car, so not a problem. Some roads are really rough, but they would be for a bike as well. I doubt you will experience problems with height. There are not many places where you are close to a big drop. And if you do the loop in a clockwise fasion you'll have to most distance from the big drops.