Vehicle depends on your budget and what is available. If you are looking at typical series III money then its probably a case of which particular vehicle is in better condition. However of the three mentioned, the Landcruiser and Landrover would generally be the better choices simply because you can easily get spares in Africa where as you will struggle to get Patrol parts. All three makes will be more than capable of coping with the conditions. Of the three, I would probably choose a Landcruiser ( I have a newer Landrover but I would prefer a 40 / 60 series landcruiser over a Series III landrover). Landcruisers aren't that popular in the UK which means there aren't many of them around but they are also fairly cheap. Noticed there is one for sale on the forum with all the camping gear so might be worth chasing if its in your budget.
You do need a Carnet for Africa. Do a search for other links explaining it all.
We travelled trans africa through West Africa - Central Africa - East Africa - Cape Town with a kiwi. Visas were straightforward, no particular problems.
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