I am just on the way to Congo BRV and DRC, driving our 4WD, with one companion. We want to cross DRC from Kinshasa to Lumunbashi to Zambia. I still look for information (we are in Gabon), but I spoke to Congolese guys in Cameroon who regurarly drive a car to DRC (Kikwit). In general they described the area around the borders with Uganda, Rwanda and Burundi as still unsafe. It is wise to avoid it, maybe with an exeption for short entry with a guide from Ugandian side to see the tropical forest.
All the best,