No Carnet needed
I'm currently travelling the mentioned route with my Africa Twin (Switzerland registration). Everything after Botswana I have been using the Carnet.
In your case, SA plates, you wont need a carnet since u can get a TIP at every border up to Tanzania and even Rwanda.
I know this because I have been travelling with two Aussies who bought a VW GOLF Mark I in Cape Town and have travelled all the way up to Tanzania and Rwanda without a carnet.
Just get a COMESA Insurance coverage for all countries you wanna cross in Lusaka or the earliest possible place and u will save lots of money and hassle at every border crossing.
Good luck
Claudio
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