Yes, but no, but.
They went wheeled in Ratels with conscripts against the Angolans in a vast area of bush on/over the border where the population and habitation was not very congested.
Look at Charlie Squadron's operations as part of 61 Mech on the River Lomba in late 1987.
They were up against a peer minus armored bde, the 90mm gunnery required to get repeated kits for a kill sounds impressive
E2A: the SA paras did an assualt in to Angola in 1978 called the Battle of Cassinga - there have been some saffers on year a while back talking about that
Plenty of other vehicles also used. Patrol in Buffels, cops used Casspir, supply and recovery in Kwevoel, SAMIL and so on. 44 Pathfinder also used cut down Land Cruisers as technicals and fast patrol vehicles.