I've been in Africa several times, North Africa and in Kenya and Tanganyika. I loved it.
I'm not sure how it would be now. To Michael Crichton who taught school in Malawi as a Peace Corps volunteer and later at a university in Uganda as he details in Dark Star Safari, it had changed dramatically upon his return. I'd love to travel through it overland for a longer period. I have alternated between taking a group overland trip, such as you'll see in this video, and outfitting a Land Rover or a Unimog to travel on my own. The former is much less expensive - very reasonable - and has the advantage that the drivers know the routes and the borders and you're always among friends. Taking your own vehicle is far more complicated and expensive, but you can travel on your own schedule.
Incidentally, Africa's size is misrepresented on most maps: in reality, it is enormous.