Which lens for safari?

Which lens for safari? Hi, I will be on safari soon and cannot decide with lens(es) to take. Taking all of them is not really an option due to weight. The safari will be in Namibia (Etosha). I have an rather old Nikon D5000 with the following lenses
Nikon AF-S 18-55mm 3,5-5,6 with image stabilization Nikon AF-S 55-200mm 4-5,6 with image stabilization Tamron AF 18-200...

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