Yes, the temporary registration document from Congo Brazzaville, valid for 6 months, allowed me to enter Angola, Namibia and Botswana and back into Namibia. I left the bike, a Suzuki 125, in Namibia for 6 months and I then got the full registration document DHL'ed to me in UK, before I returned to collect the bike. With the full papers I then toured SA and Lesotho and again left the bike in SA for 6 months. In January last year I returned to SA and went to Botswana, Zam, Malawi and Tanzania. Sometimes there was a query at a border between my Irish passport, UK address and bike papers from Congo but it was always resolved quickly. And of course no Carnet was needed.
By the way you can have a very successful trip in this region on a 125cc bike and even escape a charging elephant in Botswana. I did 20,000km touring these countries without issues.
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