I've worn New Balance hiking/walking shoes on my last 2 safaris in Tanzania I enjoyed my Courtney boots on another hunt in Zimbabwe, and took them on the ones to Tanzania, but good rugged walking shoes were my preference and what I'd take if going again. Combining these with short gaiters to cover your socks, to me is the ideal combination. My PH on my most recent 21-day hunt in Tanzania only wore Tevas.
Short pants with plenty of pockets are all that's needed though it can get chilly when riding in the back of a land cruiser early in the morning, so a jacket is a must. It warms up a lot during the day. You'll see a lot of first timers getting those long pants that can zip off and turn into shorts. A reasonable idea, I suppose, but switching between long and short pants doesn't often happen.