We did a 3 days (and 2 nights) tour in the Kalahari. Everything was included (transportation, food, accommodation).
Our guide was Hein. He is a great guy, has an amazing knowledge of the desert but not only : we had very interesting conversations about African culture, history and politics.
We stayed a month and a half in SA but we learnt almost everything from him about wildlife in only 3 days.
It was such a wonderful experience ! We only regret not to stay longer !!! But we will come back to discover Okavango delta!