You have not mentioned where you actually want to hire the vehicle to and from, but I am presuming that it will be from Vic Falls.
I have been trying to source a vehicle for you here but there is just nothing available in Victoria Falls.
You would have to use one of the companies outside Zimbabwe for instance Safari Drive - see their website www.safaridrive.com - they operate out of Zambia and Botswana.
A 4x4 without camping gear is available from Excellence car hire, they have no website but email number is: excelinc@africaonline.co.zw Tel: +263 4 703354 Let me know how you get on, we would appreciate feedback if you manage to get this sorted out. Please contact us if you need any further help.