You will hardly have time to get lost due to the unique traffic in these countries, but it is better to inform yourself to avoid any unforeseen event if you decide to travel by road.
Regarding the state of the roads, it can be said that it is somewhat reminiscent of what the roads were like in Spain before the appearance of the Autovías. Perhaps the large concentration of cars that occurs or the fact that sometimes you will have to cross a town to reach your destination will catch your attention.
Be careful, here the traffic regulations can seem a bit chaotic so you will have to redouble your efforts to be aware of what is happening around you while driving. A clear example is found in the matatus, which are the most typical public transport vehicles. It is better that you always give preference to the drivers of this kind of buses if you do not want to suffer an unfortunate accident.
In short, if you follow these tips for driving in Africa, you will save yourself a lot of shocks and inconveniences. Do not forget that you are not in Europe and that most local drivers are used to managing like a fish in water in the midst of disorder.