Although every part of Arica is a wonderful, unique experience, for an “easier” “African” adventure, the best option I found is South Africa.
#1) Roads are paved! (My rental car broke down 4 times in areas surrounding Kenya due to rough roads). Therefore, it is relatively easy to rent a car and travel throughout the country.
#2) Nice hotels are easy to locate and book and available (at least in each city I visited!)
#3) You can drive your own 2-wheel rental car through the national parks during the day and then leave and sleep in a hostel at night to save money. Most other National parks and safaris require you to join a tour, or if they allow you to drive, the rough terrain requires a 4-wheel-drive.
#4) Sign up for a tour or venture on your own–rent a car and drive across the border– to a neighbouring country: Botswana, Mozambique, Namibia, Swaziland, & Lesotho. Many major cities are near the South African Border, so you could leave in the morning and return to your hotel that evening.
#5) Johannesburg and Cape Town offer interesting history and famous sites.