Where you would need to get a permit BEFORE camping or riding through the park are mainly those that haven't any local staff like for instance the "Vogelfeder Berg" or some places east of Walvis Bay. I was told that if a park warden pitches up and you don't have a permit, it could be quite expensive.
But other parks or nature reserves like Sossousvlei, Spitzkoppe, Twyfelfontein, Brandberg etc. there is local staff where you can buy your permit, engage a guide, get camping permission without any problems.
What put me off was that often entry fees have different price levels for
a) Namibians (lowest fee)
b) citizens from other African states (slightly more expensive)
c) oversea visitors -> rip-off compare to a) and b) 
This also applies to state-run parks in South Africa.
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Only when we pause to wonder
do we go beyond the limits of our little lives.
(Rod McKuen)
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