Lots of questions here! I've added my thoughts to some to hopefully point you in the right direction.
I spent about 9 months (2018-2019) going from Morocco to South Africa on a motorcycle. I explored South Africa, Lesotho, and Malawi after this. I was probably the slowest of the others I met on the road.
All visas purchased on the road. You'll need to read up on the Nigeria visa, which is tricky. I hear Equatorial Guinea is expensive and/or very difficult to get.
For insurance, see https://overlandingassociation.org/insurance/
Dangerous? There is an increase in terrorist activity in the Sahel region. Don't think this will affect you but useful to know because of your route's proximity to Burkina and Mali. Cross at Banyo/Gembu from Nigeria to Cameroon to avoid conflict in Ekok.
Have you considered the rainy seasons and your route?
I have no experience of 4x4 but my choice would be something that looks low key and doesn't advertise that I'm a tourist with money.
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