Hi Ernest,
Just to add to Greg's comments, I would not add so much weight onto the roofrack(6 x 20l onto the roof rack), the section of road leading up to van Zyls pass is pretty bad (the Maun to Kasane route in comparison is a 1 out of 5), this would be a 3 in my opinion, and 2 small stretches on van zyls a 4 out of 5 (not too bad, just take it slow). If you have a weakness on your vehicle, Kaokoland will find it, it can be pretty rough, so I agree with Greg, don't overload the roof rack, especially for 2 sections on the pass, you don't want to be too top heavy, notice in most of the photos, it is just the driver in the car

, there is a reason for that, bit not that serious looks worse than it is, the Pajero will do just fine - you have nothing to worry about.
As per Greg, don't expect to do too much km's per day, expect around 100 to 120 and on some cases you need to push hard to get these distances. I was not fond of the community camps, especially by van Zyls, they have very noisy donkeys

, I would recommend, heading into the river bed (around 5 or 8 km's from the top of van zyls), and dash off for a km or 2 up the river, much better in my opinion, but then again we prefer bush camping (which is great in this area BTW) and we don't do tents in Nam either - which is lekker, just bedroll and sleep right there.
If you are planning on setting up camp a small trick is to plan to have shade in the morning when you break camp, as once the sun is out you will take strain as it gets hot, very hot and you will be very sweaty if you don't. Also calculate your water load that you will need, as we do bush camping we take our own water for the "bath time", some places to fill up along the way, but not really drinking water quality IMHO.
The camp on Kunene river is nice, again they also have very noisy donkeys, so we headed to the mountains after taking a lekker shower there (they have nice facilities).
I would suggest the following:
Go in a group of 2 cars as a minimum (preferably 3) - if a bakkie in the group, ask nicely to take some of your fuel.
Seriosuly conside bash plates for some protection of the sump and drive train (mine took some serious knocks)
Take some recovery gear (if you plan on driving in the river beds alot as we did, sometime they are a bit moggy in places and can be like quick sand, especially from Purros side - BUT it is seriously recommended! and a treat)
Take sufficient water for drinking and showering
2 spare wheels recommended
Consider the tyres you have fitted (HT's not the best for this region, they will take strain - we have 7 punctures, and had to replace 4 upon return, but our call was to take them and replace upon return rather than to place new and cause damage and replace twice). If HT tyres, 2 spares definately, we place a spare tyre (without the mag or rim) onto the spare wheel on the boot door of the Paj BUT, I wouldn't do it again, my door is not the same now.
Make sure your roofrack is tight (VERY tight), we had a guy with us that have 5 brackets on each side of his rack and on van Zyls, it moved forward around 5cm, which we had to address before continuing.
Consider a spare air filter is you are planning doing the Slucht area (very fine plof stof powder which goes everywhere)
A compressor
Dual battery system
Fridge
There is a nice hot spring close to sesfontein as well well worth the stop, really nice.
Sesfontein doesn't alays have petrol - They get Fuel on Tuesday I think, so that can be pretty useful, else your trip may be longer as we went past Sesfontein on our way up to Opuwa and they had no fuel, but only upon return.
Sorry and to add I have a 3.5 Gen3 LWB petrol and we did around 800km's on the full tank (from Opuwa) up to Sesfontein and used 4 jerry cans, but we got to sesfontein on reserve and used very little AC (even though some places were 47 degrees), fuel consumption as per the gauge was 23L per 100km, and we had to recover a few vehicles (only Cruisers hahaha), did 4 recoveries in thick sand and the wet rivers, which messed my fuel consumption up badly.
It is an awesome area and can't wait to go back, we missed out on a few places due to time and fuel levels in the group, but mostly time ran short, we planned on 200KM's per day, that did not happen.
SHout if you have any other questions.
Cheers
David