Bundubasher is right to the point that Zambia also does not require you to have a carnet if you come from South Africa with a SA registered vehicle.
Temporary import is very easy and cheap with an SA registered vehicle crossing into Mozambique and Zimbabwe.
Anything further than NAM / ZAM / ZIM / MOZ requires you to have a carnet although I heard of a number of travellers who made it into Tanzania or Kenya without being asked for the carnet. Temporary import might be possible without a carnet but the AA of South Africa strongly recommends to have a carnet (hopefully not just to make money).
I would guess that you need a carnet getting into the SACCA countries from Mali or alternatively import temporarily (expensive and nervewhacking).
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