Your distances in Malawi are short. You could maybe skip Senga Bay but drive North up to Livingstonia that is worth a visit and stay in a camp on the top of the cliff.
The crossing a Mqocha is easy, but the tracks condition for the 40 last kms will depend if it has rained or not the days before.
The "direct" route between Lundazi and SNLP through Luambe NP will probably be impassable in December. So you will have to drive via Chipata.
Any route you take, it will be impossible to be in Mfuwe the same day than you leave Northern Malawi.
You can have a look to my report in Southern Malawi there: http://www.4x4community.co.za/forum/...d.php?t=150263
And Northern there:
(sorry, didn't have time to translate yet, but Google translate could maybe help).