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If you are on the Elegant South Africa tour, you don’t need to worry about the duffle. There is a duffle for the classic safari Kenya and Tanzania tour that you have to use for a couple of the flights while your main luggage is taken by vehicle to meet you at the following stop. I think the other Africa tours have specific duffles that are intended to be your only luggage, but I have been on both the first two tours.
The internal flights on Elegant Adventure are commercial flights with an airline called Airlink. You can look at their website for specifics, but if you live in the middle of nowhere like we do (Wyoming,) these planes are bigger than the ones we fly to Denver.
When you leave Johannesburg to travel to Victoria Falls, you will have the opportunity to leave some of your luggage in Johannesburg to be securely stored rather than taking everything with you for the two nights in Victoria Falls. If you leave something there, it will be returned to you when you return a couple of days later for your flights home. I hope that helps.

I am still confused about the luggage for this tour. Mil mentioned packing your duffle inside your checked bag for use on the smaller airplane flights. What do you do with your "checked bag" when you embark on the small planes? Also, read about leaving heavier bags in Johannesburg when you travel to and from Victoria Falls. I am not sure what happens on tour, and I, too, just got the final docs for our September trip and found these issues unclear. Can anyone please give me some guidance specific to this Elegant South Africa tour? Thanks.