Yes and no
I border-crashed Cameroon coming from the south on my motorcycle and bought my Cameroon visa at the border - there was a price list posted, and I am pretty sure crossing from Cong into Gabon at Leconi/Lekety there was a price list as well (though I already had my visa so didnt pay too much attention).
I didn't see anything on the Gabon side going north. It was a surprisingly hassle-free crossing on both sides - probably the first hassle-free border going north since SA/Namibia (thought Angola/DRC was relatively easy).
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