I've found 3 camping tours to Kenya

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Serengeti to Victoria Falls Overland: Night Stars & Spices
operated by
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 19 nights
£2649pp excluding flights 		View
Members are eligible for cashback on this trip of up to £53pp
Johannesburg to Nairobi Overland: Waterfalls & Beaches
operated by
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 26 nights
£3759 £2819pp excluding flights 		View
Members are eligible for cashback on this trip of up to £56pp
Nairobi to Joburg Overland: Craters & Camping
operated by
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 26 nights
£3699pp excluding flights 		View
Members are eligible for cashback on this trip of up to £74pp
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