I'd say as a rule of thumb, if it isn't a main road, you'll need to pay and if there are lions inside then they probably won't let you.
If I reember right, there is only one park that you can enter with a bike in Namibia, and that is Naukluft to Sossusvlei, but only as far as the tarmac goes, which is 60km in I think. After that you'll have to take a guide in a 4x4 (or walk).
That said, the guys down there were willing to let me go on my bike, even though I wanted to hike around so it might be possible.
Not sure how you'd fair at the smaller game reserves, Caprivi, Khadum. I didn't try Skeleton coast either - there's a big sign saying no bikes!
I went through Richtesveld, but bikes are not allowed in there either, except for the main road/tracks that runs through it/on the edge of it/in the buffer zone, but there are a lot of tracks even then.
Zambia, the main road runs through Kafue...
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