Hi Vanshar,
I drove this route in May 2013. We started in Livingstone and took in Kafue National Park before heading up the Great East Road to South Luangwa. As far as I know, the road from Petauke directly north up to Mfuwe is non-existent in places. I would 100% recommend driving via Chipata.
To get onto the Great North Road the easiest thing to do is head into North Luangwa. This route from the top of SL to NL is fairly challenging - lots of river bed crossings - but doable with experience. You will cross the Luangwa pontoon which takes you over the Luangwa River and then head out on the north western side via the Mano Gate. As mentioned below this is challenging so you should be confident of your 4x4 handling skills.
All the best,
Jess
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