Can't give you a fresh road status update, but I've been up and down those roads, from one end of the Caprivi to the other and on to Botswana and Zimbabwe, numerous times over the last three decades. Never had a problem, and the roads have mostly been in pretty decent condition.
There was a period a decade or so ago when the Caprivi was declared "dangerous" and travelers were strongly advised to proceed along the Golden Highway in military convoys only. I used to watch these convoys drive past with a mixture of amazement and amusement.
Johan