I've done the W. coast myself on foot without kids, but this year I'm taking my goddaughter (from NZ, currently living in France with me) without any hesitation (& thankfully the blessings of her parents!).
We're starting in Abidjan & going as far west as Benin (on foot/bush taxi). Doesn't really cover your question regarding Angola etc but had the flights been cheaper I would have either gone back to Guinea Bissau with her or down to Cameroon & onto Eq.Guinea/Gabon.
She's 12, never travelled (been to Australia) but has her head screwed on & we have a pretty good relationship.
Maybe I'll be able to give you more insight into the trip in January on our return.
As you're in a vehicle, I'd say go for it .. I travelled a lot of Africa from age 10 with my parents & it didn't do me any harm (except I've got 'the bug'!)
Kira
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