The most adventurous experience you can have in Botswana is to do it by road. There are good road networks to cater for self-drivers, car rental is available in well-equipped 4x4, and border crossings are mostly efficient. Campsites in Botswana are basic, and they are designed to keep the element of the wild present, so sleeping in a tent while lion, hyena, elephant, or hippo walks by at night is a likely possibility.
The best adventurous self-drive itineraries include Moremi and Savuti, where wildlife is abundant and public campsites have ablution blocks with running water. There is no electricity for refrigeration or charging, and there are no cooking facilities, so it is essential to pack a gas cooker, or use the fireplace provided. It is important to bring firewood from outside the park as it is forbidden to gather wood inside the park. Pack light, breathable clothing, sunglasses and sunblock, binoculars and a camera, and always have a map of game drive routes. Fuel is not available in the parks, so make sure to refuel before entering or bring extra fuel in jerry cans.