Hello.
We crossed the border two years ago, not a very good idea, from Boli to the border is full of elephants, to us were taken in a car to the border hunters.IIn the border no problem for get VISA. In the Mozambican side you have after 300km of sandy road, pretty boring .. From Chicualacuala you can take train to Maputo 1 time a week and the owner of the Hostel of Chiculacuala could help you.
Sorry for my English