Have now booked for September. The suggestion of working through Rhino tours was very helpful, they even came up with a price for the elements I booked that was a bit lower than I could do on my own.
It's been a long time since I've been in Kruger and the Okavango, but I recall loving them both. In addition to the luxury/upscale camps, I tossed in a short stay at Skukuza rest camp (which is hardly luxurious). That's because I remember enjoying the self-drive aspect, it's qualitatively different.
And yeah, I like the mokoros too.