I thought you would only need single vehicle approval if the bike model was never offically sold in the UK.
If the Africa Twin was avaible for sale in the UK then you should be able to get a certificate from Honda saying its complies with uk law(might need to change headlight direction and speedo from KM to Miles for MOT)
I would try and speak to a bike shop that sells imported bikes if they have any up to date information the people at the vehicle license office often tell you to get an SVA test which can be alot of trouble and expense
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