I went 2 years ago in June. I visited the Masai Mara and several other of the Kenya game preserves. Elephants, Hippos, Lions, Cheetahs, Hyenas, etc. We chose a private tour so we would have the space to move around and not have to deal with others whose wishes were different than ours. Our guide was awesome and our trip was way better than it could have been with one of the tours with more people aboard.
Lenses and camera bodies were a big question for me, too. I took two Nikon D800’s. I kept my 80-400 on one and my 70-200 on the other. The 80-400 was my “go-to” lens the whole time. It did 90% of what was needed. I never really needed more range than it offerred. When closer to subjects the 70-200 is a bit more sharp and so used it when appropriate. I took a wide angle lens, but used it only rarely. For the Massai villages I took the 70-200 and a small pocket held Nikon. I had a tele-extender with me, but did not use it. Depending on your style you might take one. They are not bulky or heavy and so it offers an alternative. I would not take mine again. We took an incredible hot-air balloon ride over the treetops. At times, skimmed just a few feet off the ground, clipped the top of a few trees. Went up higher for more panoramic views. All awesome. After landing out in the bush and tall grass we were treated to a gourmet breakfast complete with tablecloths, champagne and Mimosas. We were protected from lions and the like while eating by guards with rifles. Ya never know what might be in that tall grass!
The “luxury tents” were all of that. Ten feet off the ground and large. Best charging stations for batteries, etc. I have ever used.
Food was awesome. We had our own butler and servers. A guard escorted us back to the tent at night. While there we had lions and Hyenas under our tent. A little disconcerting at first, but you soon get used to it. There was blood on the walkway to breakfast one day.
Service was incredible, care phenominal. The greeting and good-bye singing for us by the natives was touching. I recommend you spend a few days at the beach in Zanzibar before heading home. If you have time, that is. The Arab culture is there for you to photograph. Clothing, palaces, sailing dhows, etc. offer a once-in-lifetime, for most people, photo-op.

The dust and lens-changing issue was not as worrisome as predicted. Time of year and crowds are your bigger impact factors in how practical changing lenses might be.
Two bodies seem essential to me. My D800’s performed flawlessly, producing high quality images as they always had at home. Many available reasonably on used market. I never felt I needed more focal length than the 400 offerred me. Others I have spoken to echoed that.