1) “Join a tour”: here you have something of a misapprehension. Public scheduled tours are not really a feature of Madagascar travel. In general, it’s up to you to organise your own trip to the Tsingy when you want it. There are probably tour operators in Morondava who will do this for you, and if others are wanting to go they may put you together in a “tour”. If you do this, though, it will be more expensive than need be. A cheaper option is to ask your hotel to set things up for you, or even to put you in touch with a 4x4 owner with whom you can negotiate your own terms.
2) Again “joining a tour” is the wrong way of looking at things. If you decide to go to Belo by taxi brousse, you’ll have to organise your own onward travel. My informant there says that the trail to Bekopaka is now opening up after the rains, but could not say if taxi brousses run at present.
It’s possible to go from Morondava to Bekopaka in one day with private transport, but I would doubt it with two taxi brousses or taxi brousse plus hired 4x4. Both options would almost certainly mean a night in Belo.
3) Will certainly be only once a week.
4) Taxi brousses from Fianarantsoa passing Ranomafana will leave Fianar only when all seats are full. If you’re travelling alone, it’s conceivable that one will stop and manage to squeeze an extra one in, but there is a certain risk of being stranded.