I and two others rode through Nyika Park in November. A great ride, dirt road is mostly in decent condition. Obviously rain would muddy it up, but otherwise OK for solo rider. Our ride was from Rumphi to Chitipa, where we spent the nite.
Then north from Chitipa on a good dirt road not on most maps, directly to border with Tanzania with no need to enter Zambia then Tanzania. Inquire locally in Chitipa regarding that road (it starts like 100 meters from the Malawi immigration and customs office in Chitipa, where you will want to check out of the country).
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