My info is getting a little old, but in early 2011 we crossed the other direction from Brazzaville - Boko, into DRC and onto the ferry in Luozi, Kimpese, Kwilu-Ngongo, onto the R115 and over into Angola, then on to Maguela do Zombo (can't remember the towns with border posts, and Google maps isn't showing them at the moment either).
All four border formalities (out of Congo, into DRC, out of DRC, into Angola) were straightforward by African standards. Worst part was a drunk official in one town who insisted on recording ALL our details.
We took this route in part to avoid the ferry Brazza-Kinshasa.
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Vladivostok - Denmark 2008... Finished.
Denmark - South Africa 2010-2011... Finished.
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