>implying Abubakari II did any of this
The entire Sahelian civilizational complex centered on cities and states many, many miles inland. The Wolof states and the Nigerian statelets were not, by and large, maritime powers -- certainly not on the level of the Portuguese, or even the Maghrebis. The South Atlantic trade network was fundamentally a Portuguese creation, molded to the economic prerogatives of early Portuguese imperialism from the outset -- native trade, from Kongo to the Bight of Biafra to the Wolof, extended inland, whether it was to Mali or the Lunda and the Luba.
Even if we presume that one of West Africa's states had the capability to have trade with South America, there is still the matter of incentive. Portugal's explorations were essentially a huge gamble, from the risks of trying to go past Cape Bojador to even their tenative efforts in the Atlantic (essentially sailing into a blue terra nullis, with no guarantee that these explorers or their ships would return). Portugal was incentivized to gamble because they were reliant on Italian middlemen to access the eastern trade, and because they had finished Reconquista in the mid-13th century.
Compare this to the West African statelets of the period. They too have various middlemen, but they are also not far away and locked out of markets the way Portugal was. Nothing was blocking the Wolof from trading with Mali, or the Ashanti with Mali, or the Nigerian statelets with the Hausa city-states. Given that this was before the rise of the Imbangala, Kongo also had relatively easy access to trade with their own interior, and the Lunda and Luba beyond. Why would they build ships (presuming that any of them had access to Arab shipbuilding techniques the way Iberia did) and sail into the void when the entire engine of trade lies in the interior?