Safari Drive used to occasionally offer something like this. I think they move a few vehicles up to E. Africa for the season and then back to Southern Africa, and you could book the vehicle for the return leg.
But I'm sure their business has been heavily impacted by the pandemic, so who knows if that is still an option. Anyway, reach out and ask.
I suspect Bushlore would do it, but they'd charge you a one way delivery fee, and I bet it'd be a doozy!
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