Like title.They already had provinces in North Africa. They indeed had the possibility. What did prevent them to explore and conquer the rest of Africa?
Not to discourage any further answers but these similar questions might help you:
To what extent were the Romans in contact with native African tribes? How deeply did Rome explore, but not necessarily conquer or colonize, the African continent? by /u/cleopatra_philopater
Why didn't Rome conquer the rest of the nile or any of sub-saharan Africa? by /u/khosikulu