I'm not sure of your budget, but let's just talk tech.

The best tubeless system is UST, invented by Mavic and licensed to many. UST was originally designed to run without sealant, and it features a very tough tire carcass and sidewall.

Many tire manufacturers have now copied the bead shape, which is a great idea, resulting in tubeless tires that are compatible with UST rims but lack all the robustness and weight. Specialized's 2Bliss, Bontrager's TLR, and Geax's TNT are all examples.

Back to the wheels, even out of wheels that are UST compatible, Mavic and a very few others (like 2 models of Easton) have a typical dual-walled rim but the spokes do not extend into the inner wall. This means you don't need rim strips or tape to be airtight, which can be an advantage overall and can help to quickly switch between tubeless and tubes.

The toughest tire bar none is UST. You can, and should, use latex sealant in a UST tire. If you have a major issue from a nail or piece of glass, you can boot the tire and install a tube. If you are switching tires, sealant does make a little bit of a mess, but it's really no issue. You can in fact carefully deflate the tire and pour out the sealant to re-use it.

If you don't use UST rims and UST or "tubeless ready" tires, tubeless CAN be a real pain in the arse. However, with these wheels and tires, it's extremely easy: install tire, bead fits airtight in the deep center channel, pump up with normal bicycle pump and seat the beads. Then deflate and inject sealant. (Stans makes a great injector.) I have Mavic Crossmax ST wheels and Specialized 2Bliss tires, but if I were in Africa I would disregard the weight and install UST tires. Pardon me if I've watched too much of Ewan McGregor on a BMW adventure bike, but that seems pretty rough.