Depends what you mean by "over-the top prices".
See my comments at the end of this thread about lodge/tented camp prices in Botswana-
http://www.lonelyplanet.com/thorntree/thread.jspa?threadID=2027699&messageID=18265710#18265710
Unfortunately it is the Botswana governments policy to encourage "low volume high cost" tourism in Botswana, so a lot of accommodation is at the high end. If these camps are within your price range I suggest you hop over to Fodors or Trip Advisor.
I did a mobile camping safari a few years ago, spending 2 nights Chobe, 3 nights Savuti,, 2 nights Khwai and 3 nights Moremi and it was great. You can pay varying prices for these trips depending on the luxury level and the size of the group. We only had 6 people and large tents with raised camp beds and en suite "bush bathrooms" (they dig you a toilet and have bucket showers). All the cooking was done for us and served at a fully laid out table under the stars. The camp sites used by these operators are special ones (not the public camp sites) and only one group stays at any one site at a time so you really do get a feeling of being out in the wild.
So if you can't afford the lodges but don't want anything too basic that's what I'd recommend.