You could try
Windhoek [Nam]
Ghanzi -> Maun -> Francistown [Bots]
Buulawayo -> Harare - Kariba [Zim]
Lusaka ->Chipata [Zam]
Mchinji -> Lilongwe -> Mangochi -> Chiponde
Mandimba -> Cuamba -> Nampula -> Pemba [Moz]
This keeps you on Tar until you hit Moz. The Cuamba - Nampula road is much improved but not yet tarred when we went through in Aug 2011. This route is almost a "transit" - a lot of interesting stuff is nearby but off tar. You don't say which part of Moz you're aiming for, but given that you are coming from SA, I have assumed Pemba is a reasonable destination.
We did this parts of this route, and meandered to various National Parks off it in 2011. More info on website below if you need it.
Good luck!
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