Getting Around in Tanzania (2 week trip)

We are vexed about to to plan transport from point to point when visiting these locations in Tanzania. We will have bags (we anticipate a duffle and back pack per person--though we will scale it down) We are open about money, but prefer non-luxury, and authentic experiences. We are interested in visiting all of these places but would need an idea of where to stay in or near each point of interest, and how to get from each point. We are also interested in seeing animals but don't know how to go about doing so. We are not confident drivers.