Driving directly to Munsiyari from Delhi is tough. You should do a night halt at Almorah. Delhi TO Almorah around 8-10 hours. Another 8-10 hours from Almorah to Munsiyari. From Almorah, you should no (Read More)t take the road via Bageshwar as it is longer by almost 2-3 hours. You should take the road via Berinag and Chaukori. The road was relatively good two years back. Can't say now. But generally Kumaon Roads are good.
There is no need for a permit if you are planning to visit Munsiyari. Permit is required for innerline treks, so unless you are planning for trekking there is no need to obtain a permit.