I stayed two places I just loved in South Africa-Ngala and Phinda. Phinda has lodges and chalet type camps, Ngala has a Lodge and a tented camp. The tented camp at Ngala had heat and AC and was very comfortable and the lodge was just re-done. Wonderful animal sightings at both. AndBeyond arranged all the flights within Africa and transfers between camps. I’m not a camper unless the tent has a bathroom with running water!

You should do research in trip advisor and many forum sites. So, that you can get trusted tour guide.

Safari operators in Tanzania are essentially headshops for your guides. There's no exclusivity in accomodations, and most anyone of them can put you on a schedule staying at a place of your choice.

Same for the Sightseeing Tour. Essentially you are renting a vehicle. If you want to see certain parks in certain order, they can comply so long as it makes sense.