in my experience an Carnet is not needed for those countries. For some you might need to get a temporary import permit at the border. Sometimes for free, sometimes for a fee.
Insurance you will need for all except SA. You can get it at most borderpost, except smaller less visited.
Insurance is a must in my experience if you dont want to pay fines/bribes. And i have been stopped on numerous occasions in different countries.
Comesa yellow card is useless. Most police and/or insurance offices dont even know what it is...
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