That would be a bit tricky for an Ausf D as it only began production in mid 43, after the German withdrawel from Africa. If you want to do a N African based 251, you would need an earlier version. You could go with an AFV Club or Dragon Ausf C. A step up from Tamiya, extra work but great detail.
The DAK scheme are pretty simple, theres some really nice 3 colour schemes for eastern front or Western Europe schemes and there is a lot more variety.