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Self drive (camping) safari in Namibia help

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Im starting to look into planning a trip to Namibia and Im very much inclined to plan a self drive. Since my main goal will be photography I don't want to end up in some overland truck or minibus and it seems that doing a self drive in Namibia is a very good possibility.

Im a bit confused right now though whether I should book a trip via an agency so everything has been taken care of, or if it's worthwhile to look into planning the whole thing yourself..
Any suggestions? Do you save a lot of money planning it yourself? What are good agencies to look into?

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