I have driven in various ares of Africa during the rainy season and as long as you are on the main roads (so to speak) then you should not have too much trouble in a 4x4 or car, it can be a different story on two wheels.
We paired up with another vehicle and drove thru Chobe NP, Botswana - against advice I must add, but decided that one of us would try any bad stretch and the other would help to recover if stuck!!
It was very hard going water up the windscreen and very deep mud, but the 2 TLC's we were driving had the power to pull thru. We stopped to help several other stuck vehicles inc Park rangers and Safari guides who all turned back. We made it with lots of determination, a large helping of good luck and 2 well prepped TLC's - I would not have tried this without a second vehicle, IMHO it would have been suicide.
Push the boundaries, but play safe!