Before written history
Someone has produced this map, purporting to show what he thinks Africa would have looked like, had there been no Colonisation.
Personally, I reckon the Zulus & the Matabele would have wiped out / absorbed most of the smaller tribes shown.
Here's the portion showing Barotseland as the compiler of the map believed it would have looked in 1844, and I think it's probably not far wrong.
Barotseland is shown extending as far as the Zambezi/Kafue confluence East of the Kariba dam wall, but not into Zimbabwe, though it does cover the Caprivi strip and part of Botswana.
When (if) I have time, I might turn it round and superimpose modern boundaries.... (don't hold your breath !)