It's been 20 years since I lived in Kenya, but my wife and I drove ourselves everywhere. Nairobi, Mombassa, Samburu, Masai Mara.
We had a driver for the first week, but then decided it was easier just to do it ourselves. And that was before the rise of mobile phones, satnavs, etc - I'm sure it will be easier now - our biggest issue was getting lost.
We escaped a couple of attempted hijackings, but nothing too serious. Just keep an eye on your mirrors so you're prepared if anything happens. At the time there was a huge trade in stealing LR discovery diesels in Nairobi and taking them to Somalia.
Make sure your car has a decent spare wheel, jack etc.
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