Matt,
There is a significant commercial rental market in these countries, so hiring a fully equiped 4WD is fairly straight-forward. Might be more expensive than a private deal, but most have some form of support network.
It would be easiest to rent in either Joburg, Cape Town or Windhoek as there are a number of commercial operators here. You will find fewer operators in Zambia or Botswana, but you should still be able to find something.
Bushlore has offices throughout the region. If in Namibia, you could try Caprivi Car Hire. Otherwise, get hold of a copy of SA 4x4 magazine and you will see plenty of commercial operators advertising in their classifieds.
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