Dar es Salaam has a reasonable spread of accommodation, although quality midrange hotels are like gold dust. Dozens of budget hotels and hostels cluster downtown. They offer no-frills rooms with air-con. At the top end hotels are aimed at business travellers or tourists returning from luxury safaris. Here you're looking at US$200-plus for a room with all the comforts of home. The closest places for camping are at Mikadi and Mjimwema on the southern side of the Kurasini Creek.
Try removing some filters. Alternatively, there are some nearby lodgings with availability below.