Yes that's how it works. You will pay R140 or MT600 entrance at the gate per per and per vehicle and then the same per person for camping. Note that new developments are planned for this reserve and perhaps by March the area may be closed for campers. Also March is the end of the rainy season and often many roads in the reserve are flooded.
I have just read a post on Facebook that the Milibangala area is now off limits as it is being developed by the Visabeira Tourism group. A pity for us lovers of Wild camping and I hope they build something sensitive to the environment and stunning setting.