Do you need a Visa to go between Botswana and Zambia to Victoria Falls?

I will be crossing the border between Botswana and Zambia with the ferry. Border post: Kasane-Kazungula. Does anyone know if the traveler crossing this border needs a visa for Zimbabwe as well? Google maps show that when you are crossing with the ferry you somehow enter Zimbabwe while crossing the river.

The reason for this trip is to visit Victoria Falls. If the traveler does not have a visa for Zimbabwe, would the traveler miss anything by just seeing Victoria Falls from the Zambian side?