Zambia is where the walking safari grew up. In South Luangwa, guides and armed scouts lead small groups on foot along the river, reading tracks and approaching elephants and buffalo with care. It is slower and more absorbing than a game drive, and night drives here give you a strong chance of leopard.
We usually pair the Luangwa with the Lower Zambezi, where you canoe past hippos and elephants, and finish or start at Victoria Falls. Kafue, one of Africa's largest parks, suits a second visit. Camps are mostly small, owner-run and relaxed, and cost less than their Botswana equivalents.
The caveats: many bush camps close in the rains from November to April, internal flights add time, and the whole country is a malaria area.