My (infrequent) leisure travel is mainly in non-safari, non-tourist Africa. Since there are no hotels, nor proper "stores" - not to mention no restaurants - travel can be relative cheap. Bicycles are inexpensive for short-distance travel and taxi brousse for longer distances. It's not for everyone, but it's the only way to see Africa.

Airfares can be expensive, particularly since there aren't many low cost carriers providing international/intercontinental coverage.