Jon
You should concentrate on Tanzania if you really want the African experience. Arusha national park at Arusha is one you can do without a guide although you will be hustled anyway.
Also there is Tarangire and Manyara parks which cater for self drive no guide required.
The Ngorogoro crater is really cool but you need the guide
Try contacting the following
tzphotosafaris@habari.co.tz and get in touch with Pratik or Sonia.
Hope this helps.
Also check out the safisafaris website and contact Willie or Jo