The sedimentary fill of the Kalahari Basin, extending across several countries in southern and central Africa, records landscape evolution processes and holds archeological evidence of early hominid occupation. While recent studies demonstrate that the majority of the Kalahari Group sediments were deposited from the Pliocene to present, limited natural outcrops have constrained understanding of the sequence's earlier chronology. We investigated the geologic history of the Ugab drainage system in Northern Namibia, where better exposure provides insights into the adjacent Kalahari Basin’s history. We developed an integrated cosmogenic 26Al and 10Be Monte Carlo model alongside U-Th dating of carbonate cements and tufa, to study the "Base Camp" outcrop, comprising a ~20m thick cemented conglomerate sequence overlain by 20-25m of carbonate duricrusts. Our results indicate Middle to Late Miocene fluvial deposition by a high-energy fluvial system in the Upper Ugab Valley, followed by a significant erosional event during the Middle Pleistocene. Subsequent Middle Pleistocene fine-grained sediment deposition and Late Pleistocene incision indicate a shift toward a low-energy fluvial system. These alternating depositional energies suggest significant changes in relief and climate, potentially reflecting local drainage rearrangement and divide migration. Our multi-stage burial-exposure model provides a new approach for complex sedimentary setting interpretations, where single burial events cannot explain measured cosmogenic concentrations.