As stated, from Tanzania to South Africa, you should be able to use a TIP.
Currently, my organization has 6 Zambian registered vehicles in Kenya under carnet.
You may be asked at a police roadblock (there are plenty) for your carnet or if you were to get into an accident you would want to have the correct documentation.
I don't recommend passing into Kenya via Turkana or Sand River (I live 75 km from here and it's typically closed) just to avoid having to use carnets. Both for the above mentioned reasons and because you won't easily be able to leave via the more standard routes.
Thankfully the AA of South Africa let you set the value on your vehicle. I brought my Zambian registered 1977 Landcruiser in with a value of $500, so I only had to put that much down plus the cost for the carnet book. Try contacting them to see if you can get one through them
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