Hello,
there is not an universal answer. It may vary from component to component.
E.g. components, that are running on backend only or are used by admins only, such as eXplorer - the best setting for those is "Not using SEF".
Guess, that DJinstaller will be similar. Same with JCE.
For other components, that actually do generate something, you can try JoomSEF default handler, or Joomla handler.
It seems, you are using some components with duplicate the function, such as Joomap and Xmap.
As regards URL index.php/African-Attractions/African-Attractions/angola/lubango - I am wondering what component is generating it? For sure, URLs starting with index.php are not created by JoomSEF handler.