I agree with Chris, you may want to reconsider your route through Namibia.
You need to find the sweet spot between covering kilometers, and seeing places.
If you plan on staying at Ndhuvo Safari lodge, also investigate Ngepi camp, good prices and facilities. The road after the Caprivi, in the Zambia side is bad with potholes.
At Livingstone you have multiple good options: Zambezi Waterfront / Waterfront campsite if you want to camp, or Jollyboys backpackers if you just want to spend the night.
From Livingstone to Lusaka is just a Drive-and-get-it-done day, lots of traffic (especially in Lusaka) and speedhumps wherever there are people living. Try Eureka just before the city (see some animals in the camp site), or Pioneer camp past the city on the great East Road (the road you will be taking towards Malawi). There are many Backpackers / B&B options within the city, but it is not the type of city you want to spend too much time in...
It is then a full day drive from Lusaka to Chipata. Petauke is the half way stop shoul you need to get fuel or sleep half way (that road doesn't offer much other than scenery). Luangwa river bridge lodge is also an option, but not much to see o do other than a safe place to sleep. (everywhere is safe, but you do not want to pitch a tent everywhere)
Instead of Croc Valley, rather just stay at Mama Rulas in Chipata.
From Lusaka it is a full day's drive to Chipata, and if their has been any rain, the roads to Croc valley are too wet (from Chipata to Croc valley can take almost a day in the wet season)
Croc valley is great if you have some time on hand (or will be staying for 2 nights, and going for game drives, but as a sleep over, it is too far out of your way)
From Chipata, head to Mzuzu - Nkhata bay (Mayoka village)
PM me is you have any specific questions.
PS: have fun, it will be easier than you think to travel those parts of Africa.