With the Scipii I was too impatient to march infantry through North Africa from Carthage to Egypt, so I send large cavalry armies ahead (General, Equites/Roman Cavalry and some cavalry auxilia or Numidian Mercenaries).
A nice tactic (against bigger armies) I found is first luring some of the enemy army (preferably their cavalry, if they have some) away with your skirmish cavalry while the equites etc. attack seperate groups of infantry of archers. When you do this with 3 groups of cavalry at a time the infantry will follow one of your groups while the other 2 attack from behind. It takes quite a bit of manouvering but it worked quite well for me, considering the mediocre Roman cavalry...I've been scoring heroic victories all the time!
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