No, but it’s definitely one of those things on the “bucket list”.
I have been to a couple of drive through exotic wildlife parks, which is as close as you can get without a plane ticket. Texas has a good climate for many African species. As early as the 1970’s as a part of conservation efforts folks began setting up wildlife refuges for endangered African wildlife. Many of these refuges were funded by tourism. I remember going to one called “Lion Country Safari” in Grand Prairie, Texas with my family when I was a teenager.
The park was a couple of hundred acres that sported several open habitats and had a road that wound through the wildlife area. When I say habitats, I’m talking about large open areas with particular geographic features, nothing at all like those little artificial animal condos that you see in a zoo. You were basically given a tape recorder with a timed narrative that told about the types of animals you were likely to see hanging out in the various areas (no guarantees as the critters were free ranging and essentially wild so they could roam wherever they want). Of course, you were admonished to keep your windows rolled up. Even though the large predators like lions might look docile they would have no problem having you as a mid-afternoon snack.
Anyway, it was pretty darned cool. However, I believe it was long since closed down because a jackass or two decided to try to feed the lions (and succeeded, but not in the way they intended).
I went to a similar park with my kids not too long ago. While it had a similar concept, it did not sport any dangerous animals. In fact, you were encouraged purchase food and hand feed the critters through the window. A totally different experience, More of a drive through petting zoo rather than a safari, but still fun.