Hi!
I´ve been there in 99. I had bicycle with me, but I cycled just in few places. Just main road in Mosambik is sealed, but big potholes are everywhere. I don´t think you will be able to leave main road. I met in Mosambik a guy on bicycle from England and he told me that biggest problem is water. Forget about reasonable acommodation. You will have to arrange sleeping in local villages. Just allways ask chef of village. Take tablets for water!!! Malawi is far better. You will find accomodation there.
Bye Premek