Yes, fully inclusive tours can be booked for a planned stay in Namibia, Southern Africa.
One of these Tours is the Namibia Adventure Tour 15 Days.
Tour highlights for this 14-night journey include Windhoek, Waterberg Plateau, Etosha National Park, Ruacana, Epupa Falls & Himba Experience, Opuwo, Brandberg, Spitzkoppe, Swakopmund, Sossusvlei and Sesriem.  During the trip, guests stay in mid-range Lodges, Chalets and Tented Lodges.
Another two guided, fully inclusive tours are the Wilderness Safaris Diverse Namibia (10 Days) Tour and the Wilderness Safaris Namibia Desert Dune Safari (14 Days).