G adventures has many "camping" tours which are only a couple thousand for 20-30 days. Not sure how much of a budget you have. I just booked them and this is likely only the second time in my life that I have used a travel company. My hobby is planning and taking adventure travels. I agree with Carol though, this is one place I would not attempt on my own. I also see alot of adds for gate 1 and exoticaa which seem reasonable and reputable. You may be traveling among several countries and each one has visa rules so it is good to get all that advice from an expert. If you are US based and a AAA member they also have good resources and I do not think they cost anything.