There are lots of organized tour companies for Africa, from basic hiking and bus tours with tent or simple safari camps for accommodation (such as Dragoman and Oasis Overland), up to luxury tours by jeep or rail, and very luxurious safari lodges.
Kensington Tours has a large number of tours throughout southern Africa.
Wilderness Destinations can create custom tours of all regions.
I will be investigating them all for quality and value, especially looking for reviews by past users.
An article in the May 2019 issue of International Living looks at overland tours in Africa. A good article, and the author noted Oasis Overland and Acacia Africa as starting points for investigating the numerous tour companies available.
GoAhead Tours (out of Toronto) has a 16 day tour of Botswana, Zimbabwe and South Africa for $11,298 not including airfare but before single supplement.