There is always more to say, but I touched on the debate over the circumstances in which Musa came to the throne in an earlier response, and you might like to review that thread while waiting for fresh responses to your question:

With Mansu Musa being supposedly the richest person in history, what sort of extravagant and opulent things did Musa I of Mali have/could afford?

Meanwhile the debate over Abu Bakr's supposed voyage into the Atlantic came up here just a couple of days ago, and I directed that enquirer to an older thread, below. You're right to consider the story odd, and we have only a single source for it; u/MansaMontezuma's evaluation of the claim is worth a read:

Mansa Musa's father, Abu Bakr II, abdicated the throne of Mali because he was convinced he could find the edge of the Atlantic ocean. What contemporary knowledge fed this belief? Did he expect to find a 'new world'?