To answer my own question:
we arranged a notarized invitation letter for DRC via Go Congo Tours (a very helpful Belgian man called Michel) in Kinshasa. This costed USD 120 for 1 person, including immigration approval - this apparently means that you get all kind of signatures and stamps of people high in hierarchy, which should make your entry/stay in DRC much easier. They also provided an "itinery" for me (including my "hotel reservation", etc.).
With this invitation letter, we easily got our DRC visa (8 days (2x), "aller et au retour", within 3 months after issuing you should enter the country) in Lusaka. Now it's just hoping that border officials will not give us a hard time because it wasn't issued back home. Maybe the stamps on the invitation letter also help in this respect.
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