You will not need hiking shoes, there is very little walking on this tour. Any shoes you do wear on the safari part of the tour will get dirty, so it is best to avoid anything white. I have always worn suede khaki or brown Merrill, Lands End type shoes for the safari tours. I took two pairs on my recent Zambia, Botswana South Africa tour and they got absolutely filthy, but they are washable and looked like new when I washed them. For Cape Town and Johannesburg you can wear any comfortable shoes for the tours there, it it can be rainy In Cape Town, it rained when we were there last month.
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