Both before and after they conquered Carthage they were in contact with Mauretania.

Mauretania was located in the northern part of what is now Morocco, and the Western part of what is now Algeria.

This was an independent Berber tribal kingdom from about the 3rd Century BC. It became a Roman client state in 33 BC, and a province of the Roman Empire in 40 AD.

The Romans were also in contact with another Berber Kingdom, that of Numidia.

Numidia was located in what is now northern and eastern Algeria and part of northern and western Tunisia.

Rome fought a long war with Numidia from 112 BC (when the Numidians killed some Roman merchants) until 104 BC, when Gaius Marius defeated the Numidians and King Jugurtha of Numidia was paraded in his triumph and then executed in Rome.

Despite this victory, Rome did not take over Numidia at that time, and it continued to be independent for a while before becoming a Roman Province (or several Roman provinces).

Cyrenaica was another area of the Mediterranean coast of Africa which was (briefly) an independent nation before becoming a Roman province.

Cyrenaica was located in what is now Eastern Libya. It was inhabited by Greek colonies along the coast and Berber Tribes inland in ancient times. The Greek colonies were 5 cities known as the Pentapolis. The area was conquered by the Persians in 525 BC, and then by Alexander in 332 BC. It became part of Ptolemaic Egypt.

It was separated from the main Egyptian Kingdom by Ptolemy VIII and given to his son, Ptolemy Apion, as a separate kingdom. Ptolemy Apion died without heirs and left Cyrenaica to Rome in his will in 96 BC.

By 78 BC the Romans had organized it together with Crete as the province of Creta et Cyrenaica.

The Romans also certainly knew of the Nubian Kingdom, which had its capital at Meroe, in what is now Sudan, south of Egypt, along the Nile.

The Romans may well have interfaced with some other African nations as well.