The natural vegetation in much of central Africa is woodland / forest which protects soil, acts as a sponge for water and feeds soil life.  In forest as pictured above one can push a rod 1m deep into moist soil whereas a few meters away, on reverting crop land, the same rod will only penetrate 10cm.
It is a fact that much of this natural ecosystem has been replaced by double annual cropping on cleared land.  It is inevitable that more land is going to be cleared in the near future.  This is ecologically and economically unsustainable.

We have to mimic a natural system in order to utilise land sustainably.  In a prairie / savanna ecosystem we can use livestock under a grazing regime of Ultra High Density Grazing. In regard to forest / woodland, I believe, we are still a way behind.  We need to take drastic measures in order to create an appropriate “biological” infrastructure on crop land. For a start, we need:

Large trees planted in wide rows

Smaller trees planted between the rows of large trees at widths allowing the passage of machinery

Living ground covers into which annual crops can be planted after grazing with livestock

Long term rotations of pastures including grasses, herbaceous legumes and leguminous shrubs. These are to be intensively grazed with different livestock species.