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Your goal, is too have the entire African continent claimed, controlled, and colonized by a single European power.

Bonus points if there are other competing powers, but they are more focused on other parts of the world like China, India, Australia, or the Americas

The best choices are either Rome or Britain. If Rome never falls and controls all of Europe, and they industrialized, Africa is all theirs.

Britain already controlled half of Africa's land and 30% of the population. France had 25% of the land and 15% of its population.

Maybe with the right POD, the British and Frence can agree to a joint Union like discussed in WWII. Maybe a continental power like Germany starts a war (Kaiser or Hitler) and forces that joint Angol-Franco empire to seize all the smaller European powers.
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