Hi James,
The best you can do is have your bike taxed and MOTed while you are in Europe. It won't really matter in Africa as nobody will know or care that your bike is not legal in the UK unless you volunteer the information which might be unwise, it could be used to create a problem.
It will be impossible to make it legal again until your return to the UK where you can pre-book an MOT at the nearest test centre to the ferry port then tax it on-line straight away assuming it is insured. I did this with mine in the same circumstances a few years ago without a problem.
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